Kollmorgen AKD Manual

Ethernet IP with RSLogix | 6 AKD Instructions
6.3 Motion Axis Off (AKD_Disable)
6.3.1 Description
The Motion Axis Off (AKD_Disable) instruction directly and immediately turns off drive output and disables
the servo loop on any physical servo axis. This places the axis in the Disabled state. The AKD_Disable
instruction also disables any motions that may be active at the time of execution. Corresponds to the MSF
instruction in Rockwell drives.
The AKD_Disable instruction requires no parameters - simply enter the desired axis. Use the Tag Editor to
create and configure a new axis.
You can use the AKD_Disable instruction to turn servo action OFF when you must move the axis by hand.
Since the position continues to be tracked even with the servo action Off, when the servo loop is turned On
again by the AKD_Enable instruction, the axis is again under closed-loop control, at the new position.
The AKD_Disable instruction execution may take multiple scans to execute because it requires trans-
mission of a message to the motion module and time for the drive output and servo loop to be fully deac-
tivated. The Done (.DN) bit is not set until this message has been successfully transmitted and the axis
transitions to the Disabled state.
6.3.2 Operands
Operand Type Format Description
AKD_Disable AKD_DISABLE Tag Control tag for this instruction.
Axis AKD_AXIS Tag The name of the axis to disable.
6.3.3 AKD_DISABLE 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 disable instruction completes.
.ER (Error) BOOL
The error bit indicates if the instruction detects an error.
.Axis AKD_
AXIS
The axis being disabled.
6.3.4 Execution
Condition Ladder Diagram Action
Prescan Initialize variables and clear timeout.
32 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