Kollmorgen AKD Manual

Condition Ladder Diagram Action
Instruction
execution
Set enable bit in the command message to the drive if the drive does not have any faults.
Then, set the done bit when the enabled response is returned. If the drive has a general fault or
there is a communication timeout, set the error bit.
6.2.5 Changes to Axis Status Bits
Bit Name State Meaning
Enable True Axis is in Enabled state with the servo loop active.
Ethernet IP with RSLogix | 6 AKD Instructions
Kollmorgen | kdn.kollmorgen.com | November 2018 31

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