Kollmorgen AKD

1 Table of Contents
1 Table of Contents 3
2 Introduction 7
2.1 Controller Support 7
2.2 Add-On Instructions 7
3 AKD Installation and Setup 9
4 Quick Start with the AKD Sample Project 10
5 Adding AKD Support to a New or Existing Project 11
5.1 Adding the Ethernet IO Module for AKDCommunication 11
5.2 Importing the AKDAdd-On Instructions to a Project 14
5.3 Using the AKD Add-On Instructions in a Project 20
5.4 Reading and Writing Drive Parameters 24
5.4.1 Read Drive Parameter 24
5.4.2 Write Drive Parameter 26
5.4.3 Execute Drive Command Parameter 26
6 AKD Instructions 28
6.1 Motion Axis Drive Communication (AKD_Drive) 28
6.1.1 Description 28
6.1.2 Operands 28
6.1.3 AKD_DRIVEStructure 28
6.1.4 Execution 28
6.1.5 Changes to Axis Status Bits 29
6.2 Motion Axis On (AKD_Enable) 30
6.2.1 Description 30
6.2.2 Operands 30
6.2.3 AKD_ENABLE Structure 30
6.2.4 Execution 30
6.2.5 Changes to Axis Status Bits 31
6.3 Motion Axis Off (AKD_Disable) 32
6.3.1 Description 32
6.3.2 Operands 32
6.3.3 AKD_DISABLE Structure 32
6.3.4 Execution 32
6.3.5 Changes to Axis Status Bits 33
6.4 Motion Axis Home (AKD_Home) 33
6.4.1 Description 33
6.4.2 Operands 33
6.4.3 AKD_HOME Structure 33
6.4.4 Execution 34
6.4.5 Changes to Axis Status Bits 34
6.5 Motion Axis Jog (AKD_Jog) 34
6.5.1 Description 34
6.5.2 Operands 35
6.5.3 AKD_JOG Structure 35
6.5.4 Programming Guidelines 35
Ethernet IP with RSLogix | 1 Table of Contents
Kollmorgen | kdn.kollmorgen.com | November 2018 3