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10 - KAS IDE – Reading and Writing AKD I/O

The Digital I/O in the AKD are not mapped with the AKD Onboard I/O screen, but by using ECAT read and write function blocks

AKD Dig Inputs:

The 2 dig outputs on the AKD DriveControl device for regulating the speed, torque and position of a motor are then written as follows:

• AKD1 Digital Outputs
  • From the image (Figure 14) the index is 78.0
  • The function block call is as follows:
    • ECATWriteData( 78, 4, 65536 ); for DigOut1
    • ECATWriteData( 78, 4, 131072 ); for DigOut2
• AKD2 Digital Outputs
  • From the image (Figure 14) the index is 110.0
  • The function block call is as follows:
    • ECATWriteData( 110, 4, 65536 ); for DigOut1
    • ECATWriteData( 110, 4, 131072 ); for DigOut2

AKD Dig Outputs:

The dig inputs on the AKD Drive are written as follows:

• Get the index number for each drive
• AKD1 Digital Inputs
  • From above screen shot the index is 80.0
  • The function block call is as follows:
    • ECATReadData( 80, 1, false ); for Dig Inputs
• AKD2 Digital Outputs
  • From above screen shot the index is 112.0
  • The function block call is as follows:
    • ECATReadData( 112, 1, false ); for Dig Inputs

Figure 11-247: XML image showing Input Index number for Axis1 and Axis2

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