Kollmorgen AKD Manual

Ethernet IP with RSLogix | 6 AKD Instructions
6 AKD Instructions
The AKD Add-On Instructions are RSLogix instructions that define AKD drives and axis configurations.
These instructions are made to be imported into an RSLogix5000 project. Once defined in a project, they func-
tion just as a native RSLogix Motion instruction. The add-on instructions are written to mirror the native
instructions, leveraging existing knowledge of the software. The add-on instructions encapsulate the most
commonly used logic for AKD axes. They provide easily reusable tools to operate drives and axes, promoting
consistency across different projects. They provide easy control of I/O Assembly Messages. The native
MSG instruction is used in RSLogix for sending Explicit Messages.
Only one AKD add-on instruction can be enabled at a time in your project. The add-on instructions write to
the same data structure (the Command Assembly) to set control bits and command motion. Trying to enable
or execute two add-on instructions at one time would create a conflict for the control of the communication
channel. Keep this in mind when writing programs that utilize these instructions.
6.1 Motion Axis Drive Communication (AKD_Drive)
6.1.1 Description
Use the motion axis drive communication (AKD_Drive) instruction to initiate communication for an axis. This
command is required for all other AKD commands to function properly.
6.1.2 Operands
Operand Type Format Description
AKD_
Drive
AKD_DRIVE Tag Control tag for this instruction.
Axis_
Input
AB:ETHERNET_MODULE_
SINT_8Bytes:I:0
Tag Input memory space for axis.
Axis_
Output
AB:ETHERNET_MODULE_
SINT_8Bytes:O:0
Tag Output memory space for axis.
Axis_
Internal
AKD_AXIS Tag The name of the axis to initialize. This tag is an input
parameter for all AKD instructions.
6.1.3 AKD_DRIVEStructure
Mnemonic Data
Type
Description
.EnableIn BOOL The enable input bit indicates that the instruction is enabled. It remains set until the
instruction completes and the rung-condition-in goes false.
.EnableOut BOOL The enable output bit is the output of the enable input bit.
6.1.4 Execution
28 Kollmorgen | kdn.kollmorgen.com | November 2018

Kollmorgen AKD Specifications

General

Control Modes	Torque, Velocity, Position
Communication Interfaces	EtherCAT, CANopen
Feedback Options	Resolver
Safety	STO (Safe Torque Off), SS1 (Safe Stop 1)
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overtemperature
Operating Temperature Range	0°C to 55°C
Humidity	5% to 95% non-condensing