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Modbus AKD Position Movement configuration via TCP | 24 Aug 2016 | |

Modbus AKD Position Movement configuration via TCP


i have here a Kollmorgen AKD P00306. I have to say this is a really nice motor controller :), but i have some problems with the modbus interface. I  tried reading the angle of the feedback. This works wonderful. I can execute movement tasks, but i can not write my own movement tasks via labview (modbus library) choosing speed, acceleration, deceleration. In the help it says i have to set cmdsource to 5 and opmode to 2, but when i do that, the reading of the angle does not work and an error occurs that the server does not support this function anymore. The SW enabling also does not work anymore. The funny thing is at the DRV.CMDSOURCE help it says. "If DRV.CMDSOURCE is set to 5 then DRV.OPMODE must be set to 3."

That stands in contrary what in the movement to position stands. That DRV.CMDSOURCE must set to 5 and OPMode must be 2. At the workbench there is also no CMDSOURCE 5 to choose. opmode "3" is even not in the help. There is just:

0 Current (torque) operation mode
1 Velocity operation mode
2 Position operation mode 

and if i use opmode 3 and cmdsource 5, there will be no error, but nothing happens. i working with labview and their modbus library. Can anyone tell me the correct flow of setting up a position movement via modbus?

Currently i am using opmode position (2) and cmdsource service (0) and using the hand made movement tasks which i can configure in the workbench.

Thank you in advance, i am looking forward for a quick response.

best regards
Josef Wilfinger

Comments & Answers

kenny.hampton@… | Wed, 08/24/2016 - 11:14

This is a link to a document that gives examples of how to execute motion commands with the AKD over Modbus TCP/IP.

The Modbus commands can be found in the online help of WorkBench.  Do a search for Modbus in the search window.

You should contact the distributor that you purchase the equipment from for assistance with the AKD.  We want your first experience with our AKD to be a great one.

Josef Wilfinger | Thu, 09/22/2016 - 09:40
And how can i use

without these motion tasks?

kenny.hampton@… | Thu, 09/22/2016 - 11:48
The Move.x parameters are only active in the AKD-Txx  (Programmable Basic Language) version of the AKD.  If you want to command position moves in the AKD-Pxx drive, you will have to use the Motion Tasks feature in the AKD-P (Index Position) version.

Josef Wilfinger | Thu, 09/22/2016 - 11:50
probably its just a software difference. or? :)

kenny.hampton@… | Thu, 09/22/2016 - 11:57
You can contact your local Kollmorgen distributor to see if they can get your drive converted to an AKD  Basic version. 

About this Question

Josef Wilfinger