AKD2G vs. AKD: Modbus
All Modbus addresses are dynamically mapped using parameter names with MODBUS.MAP .
AKD2G uses 1-based addressing vs. AKD uses zero-based.
The optional Modbus specific scaling that was supported in addition to WorkBench units was removed; WorkBench units are used for all Modbus reads and writes.
The default for MODBUS.ERRORMODE changed from 0 to 1. The AKD2G Modbus error log on contains more information than the AKD drive. The AKD2G Modbus error log is no longer readable with Modbus registers and MODBUS.ERRORS must be used.
AKD2G Dynamic mapping can be changed at any time with MODBUS.MAP . For AKD MODBUS.DYNMAP must be set before changing the map and MODBUS.DYNMAP must be cleared when finished.
Dynamic mapping can only be changed by using WorkBench when using the Modbus screens or terminal. AKD allows the mapping to be changed by using the Modbus register interface in addition to WorkBench.
Handling High Message Rates is different on AKD2G. When using AKD it is recommended to configure the HMI or PLC to insert a delay, typically 20ms, ensuring stable operation. You do not need to do this with AKD2G, the drive can accept messages at any rate. If the rate is too high it will slow down its response to some Modbus messages and messages will not be lost.
The following table provides the equivalent Modbus parameters on AKD2G compared to AKD.
| AKD | AKD2G | Notes |
|---|---|---|
|
MODBUS.EN |
||
|
MODBUS.INFO |
||
|
MODBUS.ADDR |
MODBUS.MAP |
Uses different syntax |
|
MODBUS.CLRDYNMAP |
MODBUS.RSTMAP |
|
|
MODBUS.DATA |
||
|
MODBUS.ENDIAN |
||
|
MODBUS.WATCHDOG |
||
|
MODBUS.KEEPALIVE |
||
|
MODBUS.LIST |
||
|
MODBUS.DYNMAP |
No longer needed with MODBUS.MAP |
|
|
MODBUS.CLRERRORS |
MODBUS.CLRERRORS |
|
|
MODBUS.DIO |
Map DIN.STATES, DOUT.STATES, DOUT#STATEU, DIO.STATES, DIO#.STATEU |
|
|
MODBUS.DRV |
Map AXIS#.MOTIONCONTROL, AXIS#.EN, AXIS#.DIS, AXIS#.STOP |
|
|
MODBUS.DRVSTAT |
Map AXIS#.MOTIONSTAT, AXIS#.ACTIVE, AXIS#.SAFE.STO.ACTIVE, AXIS#.HWLS.POSSTATE, AXIS#.HWLS.NEGSTATE, AXIS#.SWLS.STATE |
|
|
MODBUS.ERRORMODE |
MODBUS.ERRORMODE |
|
|
MODBUS.ERRORS |
MODBUS.ERRORS |
|
|
MODBUS.ERRORCOUNT |
||
|
MODBUS.HOME |
Map AXIS#.MOTIONCONTROL, AXIS.HOME.MOVE, AXIS#.HOME.SET |
|
|
MODBUS.MOTOR |
Map AXIS#.MOTIONCONTROL, AXIS#.MOTOR.BRAKE, AXIS#.MOTOR.BRAKECONTROL |
|
|
MODBUS.MSGDUMP |
MODBUS.MSGDUMP |
|
|
MODBUS.MSGLOG |
MODBUS.MSGLOG |
|
|
MODBUS.MT |
Map AXIS#.MT.MOVE |
|
|
MODBUS.PIN MODBUS.POUT MODBUS.PSCALE MODBUS.SCALING |
Use AXIS#.UNIT parameters |
|
|
MODBUS.SM |
Map AXIS#.MOTIONCONTROL, AXIS#.SM/.MOVE, AXIS#.STOP |
