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Many applications require a number of axis so high that it's not possible to use one PCMM only.

In order to get over this limitation it's possible to use more controllers with the benefits of exchanging data between them.

There are three chances available:

  1. EthernetIP with one PCMM as adapter and others as scanners;
  2. Profinet IO with one PCMM as controller and others as devices;
  3. UDP with one PCMM as server and others as client.

The choice depends on the requested performance.

The following chart outlines the networks (field buses) supported by the PCMM and PDMM and the key  parameters of each.


This article is aimed to get some basic overview of EtherentIP communication with AKD. A variety of controllers are supporting ethernetIP.

Irrespective of the controller, if once the communication is alive between the AKD and the controller, rest is controlling via Control and Status Word. In this example I am using PCMM as ethernetIP IO scanner.

Under the fieldbus settings you can put in the IP address of the Adapter AKD.


Starting with firmware, the AKD now has the ability to add additional drive parameters to the Polled I/O send and receive cyclic data. the attached zip file has an explanation and sample code.


Many customers want to use an Absolute Feedback device as the home reference.  They also want to move the axis to, what they want as, a home position and "Auto Set drive parameter FB1.OFFSET for the difference between the Absolute Feedback zero position and their pefered home position.  Attached is a RSlogix 5000 example on how to do this over EIP.  The attached zip file has a sample program and two Add-in function blocks used by the sample program.