Ethernet IP with RSLogix | 6 AKD Instructions
6.2 Motion Axis On (AKD_Enable)
6.2.1 Description
The Motion Axis On (AKD_Enable) instruction directly activates the drive and enables the configured servo
loops associated with a physical servo axis. It can be used anywhere in a program. Corresponds to the MSO
instruction in Rockwell drives.
The AKD_Enable instruction automatically enables the specified axis by activating the drive and by activating
the associated servo loop. The most common use of this instruction is to activate the servo loop for the spe-
cified axis in its current position in preparation for commanding motion.
The AKD_Enable instruction execution may take multiple scans to execute because it requires transmission
of a message to the motion module and time for the drive output to stabilize and the servo loop to activate.
The Done (.DN) bit is not set immediately, but only after the axis is in the Enabled state.
6.2.2 Operands
Operand Type Format Description
AKD_Enable AKD_ENABLE Tag Control tag for this instruction.
Axis AKD_AXIS Tag The name of the axis to enable.
6.2.3 AKD_ENABLE 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.
.DN
(Done)
BOOL The done bit indicates when the enable instruction completes.
.ER (Error) BOOL
The error bit indicates if the instruction detects an error.
.Axis AKD_
AXIS
The axis being enabled.
6.2.4 Execution
Condition Ladder Diagram Action
Prescan Initialize variables and clear timeout.
Rung-con-
dition-in is
false
Initialize variables and clear timeout.
30 Kollmorgen | kdn.kollmorgen.com | November 2018
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