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File Description 
AKD2G Servo Drive Firmware for CANopen, EtherCAT, EtherNet/IP, PROFINET, and Analog devices. This firmware complies with recently revised U.S. and E.U. export regulations (E.U. Dual-Use Regulation 428/2009, and U.S. Dual-use regulation EAR Category 3 under ECCN3A225).
Release Date 
Friday, October 22, 2021
This article contains a list of differences between AKD2G and AKD1G related to Profinet.

The Real-Time Jog feature in Profinet allows the PLC to change the jog speed, acceleration, deceleration, and direction on the fly (while the jog motion is active).

The following telegram data is used for the Real-Time Jog:

  • Acceleration: MDI_ACC
  • Deceleration: MDI_DEC

These are available in the following telegrams:

  • For AKD: Telegram 9, 352, 353, and 400
  • For AKD2G: Telegram 9 and 0

The behavior of the Real-Time Jog is different in the AKD and AKD2G drives.

This page contains useful information and links related to supporting the Profinet fieldbus on the AKD2G drive.




This is a guide to configure the PROFINET IRT communication in between the CPU S7-15xxTx-PN and the AKD2G-SPP PROFINET. The result is to manage both axes by means of the Technology Objects that the PLC provides.
The axes will be configured in Velocity Mode and the PLC will handle the position loop control. For that the ProfiDrive Telegram 3 will be used inside the PROFINET I/O data.


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 - 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. 

File Description 
This Powerpoint presentation provides information about the Profinet fieldbus communication protocol support by the AKD drive.
Release Date 
Thursday, May 10, 2018

KAS (PDMM) as a Profinet Slave - Setup for Siemens S7-1200 PLC

Using KAS IDE Version: 2. 12 Build 2, 12, 0, 72029 and Siemens TIA Portal V15.

The attached paper reviews options that are available for Ethernet and non-Ethernet connections within a motion controller. It begin with a summary of what information can be transferred in and out of the motion controller followed by network and non-network examples for communicating data. Finally, the factors that need to be considered to choose the right one. Through the paper details on KAS PxMM controller setup and implementation are included.

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.