Kollmorgen AKD PROFINET RT Communication, Руководство пользователя

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AKD PROFINET | 4 Installation and Setup
4.6.2 Example for writing the operation mode
For writing the operation mode an acyclic change parameter value request needs to be send
from the IO-Controller/Supervisor to the AKD.
If the user wants to write e.g. the operation mode to position mode (DRV.OPMODE 2) over
PROFINET, the PNU 930 needs to be written with value 0x0002. The PROFIdrive base para-
meter access (see "Position Units" (
➜
p. 43)) describes the procedure.
Change parameter request (Operation mode):
Byte (dec) Value (hex) Description
0 0x05 Request reference: e.g. 5
1 0x02 Request ID: Change parameters
2 0x00 Axis: 0 (the AKD parameter manager)
3 0x01 No of Parameter: 1
4 0x10 Attribute: Value
5 0x01 No. of Elements
6 0x03 PNU: 930 Operation mode
7 0xA2
8 0x00 Subindex: 0
9 0x00
10 0x42 Format: Word
11 0x01 No of Values: 1
12 0x00 Operation mode
13 0x02
The AKD answers with a positive response without values:
Byte (dec) Value (hex) Description
0 0x05 Request Ref. mirrored: e.g. 5
1 0x02 Response ID: Change parameters
2 0x00 Axis: 0 (the AKD parameter manager)
3 0x01 No of Parameter: 1
4 0x00 Format
5 0x00 No. of Values 0
24 Kollmorgen | December 2014