Special Modbus AKD Parameters

Special Modbus AKD Parameters

These AKD parameters were added for usability over Modbus TCP communication.

These parameters apply to all AKD drive models except the Profinet option.

 

MODBUS.DIO

Bit 0 to 6: DIN.STATES

Bit 16 and 17: DOUT.STATES

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MODBUS.DRVSTAT

Bit 0: Drive Active

Bit 1: STO Status

Bit 2: Pos Hw Limit

Bit 3: Neg Hw Limit

Bit 4: Pos Sw Limit

Bit 5: Neg Sw Limit

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MODBUS.DRV

Bit 0: Stop

Bit 1: Enable

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MODBUS.MOTOR

Bit 0: Has Brake

Bit 1: Brake Release

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MODBUS.HOME

Bit 0: Start Homing

Bit 1: Set (current position as home position)

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MODBUS.MT

Bit 0: Clear (clears motion task MT.NUM)

Bit 1: Continue

Bit 2: Load (load motion task MT.NUM)

Bit 3: Set

Bit 4: Move (start move of MT.NUM)

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MODBUS.SM

Bit 0: One Direction (sets SM.MODE to either 0 or 1)

Bit 1: Start Move (Edge triggered)

    0 → 1: Start motion (execution of SM.MOVE)

    1 → 0: Stop motion (execution of DRV.STOP)