TG400_Rev2.01_Project_Documents.zip (Previous Revision) Zip files contain PDF printouts of the ladder program, project properties, and tag tables, as well as tag tables in Excel format. Project Component Files: (The following downloads already exist inside the sample projects, but are provided separately for your convenience.) Project Documents: See below for projects using Telegram 7 and Telegram 1. We also provide sample projects for Telegrams 1 and 7 for your convenience, although these are not documented in the sample project manual. The project for Telegram 400 (TG400) is the officially supported sample project. It contains setup instructions and reference material on the function blocks. Siemens software: TIA Portal V13 ( also tested with V14 and V15) (projects from older versions of TIA Portal can be converted to newer versions of TIA Portal)ĪKD firmware: 1-16-xx-xxx (also tested with 1-17-xx-xxx)īack to top TG400 Project (Official Sample Project) Sample Project Manual: AKD_Profinet_S7_Sample_Project_Manual_Rev1.pdf Please read the manual. Telegram 1 is used for cyclic update of velocity command in velocity mode. Telegram 7 is limited to calling pre-configured motion tasks, homing, and jogging. Motion control includes calling pre-configured motion tasks, cyclic update of the Direct Motion Task, homing, and jogging, including cyclic update of jog speed. Telegram 400 is a free mappable telegram based on Telegram 9. The UDT is specific to a matched pair of telegram and function block. have both position and velocity control.Įach project uses a “Data type” (UDT) to link the telegram addressing to the data in the function block/data block. There shouldn't be any need to switch between telegrams, as Telegram 400, 9, etc. Changing telegrams within a program is possible, but doesn't always work as expected. It could be done using the PNU function block, but that would require multiple steps and complicated ladder logic programming.Įach project can support only one telegram per AKD drive. Another function block is used to simplify the process of editing the position value of motion tasks. Another function block is used for the Parameter Access channel (PNU channel) to read and write values to drive parameters via the PNU numbers. The sample projects use a function block to handle the telegram data and state machine (Control Word and Status Word).

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