Kollmorgen AKD PROFINET RT Communication, Manual

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6 PROFIDRIVE over PROFINET IO
6.1 Introduction 28
6.2 AKD as Drive Object (DO) 29
6.3 General State Machine 30
6.4 Control word bits (STW1) 31
6.5 Status word bits (ZSW1) 33
6.6 Supported PNU's 34
6.7 Signals 35
6.8 Telegram configuration 35
6.9 Velocity Mode (Application class 1) 36
6.10 Position Mode (Application class 3) 37
6.11 I/O Telegrams 41
6.12 Units 43
6.13 Alarms 44
6.14 Fault 44
6.15 ASCII configuration 45
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO
Kollmorgen | December 2014 27