Kollmorgen AKD Manual

6.6 Motion Axis Move (AKD_Move)
6.6.1 Description
Use the motion axis move (AKD_Move) instruction to move an axis to a specified relative or absolute pos-
ition. Corresponds to the MAM instruction in Rockwell drives.
Drive must be enabled, homed, and in position mode in order to execute this instruction.
6.6.2 Operands
Operand Type Format Description
AKD_Move AKD_MOVE Tag Control tag for this instruction.
Axis AKD_AXIS Tag The name of the axis to enable.
Move Type SINT Immediate For this move mode Enter:
Absolute 0
Relative to Command Position 1
Accel DINT Immediate Acceleration rate of the axis.
Decel DINT Immediate Deceleration rate of the axis.
Speed DINT Immediate Speed to move the axis.
Position DINT Immediate Target position for move.
6.6.3 AKD_MOVE 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 move instruction is successfully initiated.
.ER (Error) BOOL
The error bit indicates if the instruction detects an error.
.IP (In Pro-
cess)
BOOL The in process bit is set when the command is enabled and remains true until the
move completes or is terminated.
.PC (Process
Complete)
BOOL The process complete bit is set when the command is complete.
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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