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Special Modbus AKD Parameters

Special Modbus AKD Parameters

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

While this information is located in the Workbench help file under AKD BASIC Language, these parameter apply to all AKD drive models.

 

MODBUS.DIO

Bit 0 to 6: DIN.STATES

Bit 16 and 17: DOUT.STATES

 


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

 


MODBUS.DRV

Bit 0: Stop

Bit 1: Enable

 


MODBUS.MOTOR

Bit 0: Has Brake

Bit 1: Brake Release

 


MODBUS.HOME

Bit 0: Start Homing

Bit 1: Set (current position as home position)

 


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)

 


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)
 

Comments

Martin Rupf's picture
Martin Rupf

There is one exeption to this, as Modbus is not available on the AKD Profinet.