Kollmorgen AKD Manual

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

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