AKD2G as Drive Object (DO)

The AKD2G PROFINET device consists of one drive unit which contains one drive object for every axis of the drive. Each drive object contains the following:

• General state machine
• Axis control task
• Parameter manager with parameter database

Multiple communication channels are used for read/write data values over PROFINET IO. The drive object is accessed using:

• Cyclic data exchange
• Acyclic data exchange
• Fault Buffer
• Clock synchronous operation

The cyclic data exchange includes the transmission and reception of data values like setpoint values (e.g., Position setpoint, velocity setpoint or Controlword) and actual values (actual position value, actual velocity or Statusword) between the master and the drive object. These values are called I/O data and are transferred in real time.

The acyclic data is used for configuring the drive which typically is not time critical. Each DO has its own parameter manager which handles the access. The non real time channel is used for this in PROFINET IO.

The alarm queue is used for signaling the master in exception situations generated through the state machine or the axis control task.