Modbus AKD Position Movement configuration via TCP





Hello,

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