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Application Note: Using X9 As General I/O

File Description 
Installation manual for AKD, AKD BASIC, and AKD PDMM drives. Describes the AKD series of digital drives and includes mechanical, electrical, and software installation information needed to safely install AKD.
Language 
English
Release 
1.20
Release Date 
Thursday, November 12, 2020
This solution allows to read the motor positions of three AKD axes using Raspberry HW and Modbus TCP/IP.
File Description 
This manual describes the accessories for Kollmorgen digital drive systems and servo drive motors. European edition.
Language 
English
Release 
08/2020
Release Date 
Wednesday, August 12, 2020

The ability to read FB3.P was added in firmware 01-12-00-000.

This application note demonstrates configuration, key objects, and reading the encoder position using both PCAN

for CANopen and TwinCAT3 for EtherCAT.

This video series comprises of 16 videos as a complete training on AKD Ethernet IP Communications. Videos 1 though 7 are essential and the remaining videos can be viewed in order or the user can pick and choose a topic of interest or one that pertains to something specific in their application.

In the top right-hand corner of the following link there is a right arrow that allows the user to index from 1 to 16 on the video playlist.

Hello,

I am having trouble with mapping telegram 400 of an AKD drive over profinet. 

Mapping of all "one word" parameters is fine, I am using examples from here - https://www.kollmorgen.com/en-us/developer-network/sample-projects-siemens-s7-1200-s7-1500-plcs-and-akd-profinet-drive/ but lets say I want to map fe. HOME.ACC - 2192 - DWord.. I tried many variants by changing example program, but I just cant get it to work. 

New features include TCP/IP Function Blocks, BBH FSoE Master + SafePLC with KAS-IDE and AKD2G w/ SMM, KAS IDE-WorkBench Improvements, new File Management functions, DriveParamStrRead, Multi-select PDO objects, new axis parameter to read PLCopen user units, and more!

I am commanding the AKD drive in velocity mode.  I would like to obtain an S-curve velocity profile.  The way the drive is controlled now is to command 0rpm and then 80 rpm to go that speed.  The standard motion creates some problems in control including overshoot.

I know how to compute the path by setting a Jerk value and laying out the acceleration and velocity profile.  My question is what could be a way to entice the drive to perform this.   It is being controlled via the Modbus commands over ethernet. I have two ideas:

WorkBench (version ≥ 2.2.2.4811) has some accessible parameters to tweak the way data are exchanged with the drive. Keywords sent to the drive and answers returned will be grouped together to build bigger packets of data. This is particularly helpful on networks with high latency. It is also useful for slowing down the polling interval to avoid overloading the communication channel on slower networks.

These parameters are accessible in the WorkBench configuration file, which is usually placed in the install directory:

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