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Automation of the AKD Drive with a Siemens S7-1200 and S7-1500 PLC and Modbus TCP

The following utility provides a connection between AKD servo drive (other than the Profinet drive) and Siemens SIMATIC S7-1200/S7-1500 programmable logic controllers (PLC) using Modbus TCP programmed in TIA V13.

The application contains the following functionality:

  • Software Enable/Disable
  • Emergency stop
  • Reset of drive faults
  • Jog
  • Home
  • Execution of a pre-defined motion task
  • Setup of motion tasks
  • Read motion tasks
  • Setting operation mode
  • Read and write access to the parameters

AKD - PLC connection

The axis control is done with one function block, which can be used as multi instance.


Direct Parameter access

All accessible parameters on the AKD can be read or written with a second function block.


For more information and source code, see the download here. The files were updated in December 2019 to add suppervision for rising system time.


Bruce Doan's picture
Bruce Doan
I have downloaded the sample program and extracted it, but it won't open in TIA Portal.  Can you help me?
Martin Rupf's picture
Martin Rupf
The files with the ending .zap13 are TIA V13 SP1 archive files. This means you need to use the Retrieve function within TIA to open them. To do so:
1. open TIA with no project open
2. under Project -> Retreive
3. Choose the path to the archive file
4. Set where to safe the project and execute
5. Now you should be able to work on it