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AKD2G vs AKD Profinet Comparison

This is a list of differences between AKD2G and AKD related to Profinet.

Profinet Modes of Operation

AKD2G AKD
Profinet RT: “Real-Time”
  • Velocity mode (Telegram 1)
  • Position mode (Telegrams 7 or 9)
    • Point to point moves (motion task)
Profinet RT: “Real-Time”
  • Velocity mode (Telegram 1, 350, 351)
  • Position mode (Telegram 7, 9, 352)
    • Point to point moves (motion task)
Profinet IRT: “Isochronous Real-Time”
  • Velocity mode (Telegram 5)
  • Position mode (Telegram 3)
    • Real-Time setpoint stream
      • Update on the fly
AKD does not support IRT

 

Profinet Communication Rate

AKD2G AKD
Fastest rate: 0.25ms
  • Dependent on PLC capability
  • Typical 4ms for lower level PLC
Fastest rate: 8m

Telegram Size

AKD2G AKD
Telegram 0 up to 16 words in each direction
  • 16bit words
  • 16 words for setpoints
  • 16 words for actual values
Telegram 400 up to 12 words in each direction
  • 16bit words
  • 12 words for setpoints
  • 12 words for actual values
Supplemental Telegram up to 8 words in each direction
  • This is in addition to the standard telegram.
AKD does not support supplemental telegrams

Free Mappable Telegrams

AKD2G AKD
Telegram 0 is free mappable
  • Mappable via PNU’s 915 and 916
  • Mappable in Workbench
  • Default mapping is based on whichever telegram was previously selected.
  • Supplemental telegrams are free mappable
Telegram 400 is free mappable
  • Mappable only via PNU’s 915 and 916
  • Default mapping is based on Telegram 9

Profinet Connectivity

AKD2G AKD
Ports X11, X12
  • Internal IRT rated switch
  • In/Out Interchangeable
    • Connect into or out of either port
  • Allows “daisy chain” for multiple devices
  • X11/X12 have a single IP address for Profinet
    • X20 (Service Port) and X11/X12 have separate IP addresses
Port X11 (Service Port)
  • Single connection
  • Single IP address
  • Use Ethernet switch for multiple devices

Profinet Device Name

AKD2G AKD
  • Profinet Device Name must be assigned by PLC.
    • Can be read in PROFINET.INFO
  • Device Name is empty until assigned.
  • Device Name is retained even if the drive parameters are set to factory defaults.
  • Once assigned, the Device Name is used until it is overwritten by assigning a new name.
  • Profinet Device Name can be set by DRV.NAME or assigned by PLC. 
    • Can be read by PN.DEVICENAME
  • Default Device Name is “no_name” based on the default of DRV.NAME.
  • Device Name is reset to “no_name” when parameters are set to factory defaults.
  • Device Name is reset to empty when resetting by PLC.

Siemens PLC Feature Compatibility

AKD2G AKD
  • SIMATIC S7-1200 supports RT
  • SIMATIC S7-1500 supports RT and IRT
  • SIMATIC S7-1500T (Technology) supports technology objects with IRT for easier motion control setup in PLC program
  • MC function blocks with and without technology objects
  • Siemens function block “PD_TEL9_DrivePos” for use with Telegram 9 position control (motion tasking)
    • Handles the state machine and motion commands
  • SIMATIC S7-1200 supports RT 
  • SIMATIC S7-1500 with RT only
  • Kollmorgen function block “AKD_PN_TG400_v03” for use with Telegram 400 for position control (motion tasking)     
    • Handles the state machine and motion commands

MDI (Manual Data Input)

AKD2G AKD
  • MDI supported in Telegrams 9 and 0
  • MDI data mapped to internal registers
  • Not mapped to a motion task
  • Telegram data viewable in Workbench Profinet telegram screen
  • MDI supported in Telegrams 9, 352, 353, 400
  • MDI data mapped to Motion Task 0
    • Motion Task 0 can be seen in Workbench

Real-Time Jog

AKD2G AKD
  • Real-Time Jog supported in telegrams that use MDI
  • Supported in Telegrams 9 and 0
  • STW1 bit 12 starts motion, doing a Real-Time Jog move, using the MDI settings.
  • Jog 1 (bit 8) uses AXIS#.PROFIENT.JOG1V.  
    • Turning on bit 8 starts the Jog 1 move.
  • Jog 2 (bit 9) uses AXIS#.PROFIENT.JOG2V.  
    • Turning on bit 8 starts the Jog 1 move.
  • If any of the three jog moves are active (moving) and a different jog move is started (with bits 8, 9 , or 12), the current jog move will be terminated (stop motion) and the newly executed jog move will start.
  • Real-Time Jog supported in telegrams that use MDI
  • Supported in Telegrams 9, 352, 353, 400
  • STW1 Bit 12 enables Real-Time Jog feature (as an option)
  • If Bit 12 is ON, then bit8 or bit9 starts the Real-Time Jog using the MDI settings.
  • If Bit 12 is OFF, then bit 8 or bit 9 starts the regular jog move using the Service Motion settings (SM.V1 and SM.V2).
    • Bit 8 starts Jog 1; Bit 9 starts Jog 2

Scaling (Units) for Cyclic Telegram Data

AKD2G AKD
Velocity Units
  • Velocity mode:
    • N2 Value = Desired rpm * 0x4000 / 3000
  • Position mode:
    • N4 Value = Desired rpm * 0x40000000 / 3000
Velocity Units
  • Velocity mode:
    • N2: 215 = 12000 rpm
  • Position mode:
    • N4: 232 = 12000 rpm
Position Units
  • Scaled via Feed Constant and Gear Ratio
Position Units
  • Default: 216 = 1 motor rev
  • Scaled with PNU 1002
Accel/Decel Units
  • N2 (2 bytes)
  • Value = Desired rpm/s * 0x4000 / 65536
Accel/Decel Units
  • 216 = 50,000,000 rpm/s
  • Scaled with PNU 1008
Current Units
  • Value = Desired amps * 0x4000 / AXIS#.IPEAK
Current Units
  • 214 = DRV.IPEAK (A rms)