Kollmorgen AKD Manual

Ethernet IP with RSLogix | 6 AKD Instructions
Condition Ladder Diagram Action
Instruction
execution
Send smooth stop to axis. Set the in progress bit to indicate that the command has initiated
successfully and command is running. Set the done bit when the axis has stopped moving. If a
general fault occurs, set the error bit.
6.5.6 Changes to Axis Status Bits
Bit Name State Meaning
Current_Dir-
ection
<Input
Defined>
Velocity mode direction (False = Reverse, True = Forward) set based on
parameter input.
Profile_In_Pro-
gress
True Profile move is in progress.
36 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