6.7 Motion Axis Set Home Mode (AKD_Set_Home_Mode)
6.7.1 Description
Use the motion axis set home mode (AKD_Set_Home_Mode) instruction to set the homing mode used by the
drive when the AKD_Home command is called.
The AKD_Set_Home_Mode instruction execution may take multiple scans to execute because it requires
transmission of a message to the motion module. The Done (.DN) bit is not set immediately, but only after
the home mode is set.
This is a transitional instruction:
o
In ladder diagram, toggle the rung-condition-in from cleared to set each time the instruction should
execute.
6.7.2 Operands
Operand Type Format Description
AKD_Set_ Home_
Mode
AKD_SET_ HOME_
MODE
Tag Control tag for this instruction.
Axis AKD_AXIS Tag The name of the axis to modify.
Mode SINT Immediate For Mode Enter:
Current Position 0
Limit Input 1
Limit/Zero Angle 2
Limit/Index 3
Home Input 4
Home/Zero Angle 5
Home/Index 6
Zero Angle 7
Position Error 8
Position Error/Zero
Angle
9
Position Error/Index 10
Index 11
Home OR Position
Error
12
Ethernet IP with RSLogix | 6 AKD Instructions
Kollmorgen | kdn.kollmorgen.com | November 2018 39
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