Kollmorgen AKD Manual

Ethernet IP with RSLogix | 1 Table of Contents
6.5.5 Execution 35
6.5.6 Changes to Axis Status Bits 36
6.6 Motion Axis Move (AKD_Move) 37
6.6.1 Description 37
6.6.2 Operands 37
6.6.3 AKD_MOVE Structure 37
6.6.4 Programming Guidelines 38
6.6.5 Choosing a Move Type 38
6.6.6 Execution 38
6.6.7 Changes to Axis Status Bits 38
6.7 Motion Axis Set Home Mode (AKD_Set_Home_Mode) 39
6.7.1 Description 39
6.7.2 Operands 39
6.7.3 AKD_SET_HOME_MODE Structure 40
6.7.4 Homing Modes 40
6.7.5 Execution 40
6.7.6 Changes to Axis Status Bit 40
6.8 Motion Axis Set Acceleration (AKD_Set_Accel) 41
6.8.1 Description 41
6.8.2 Operands 41
6.8.3 AKD_SET_ACCEL Structure 41
6.8.4 Execution 41
6.8.5 Changes to AxisStatus Bits 42
6.9 Motion Axis Set Deceleration (AKD_Set_Decel) 43
6.9.1 Description 43
6.9.2 Operands 43
6.9.3 AKD_SET_DECELStructure 43
6.9.4 Execution 43
6.9.5 Changes to Axis Bits 44
6.10 Motion Axis Set Mode (AKD_Set_Mode) 45
6.10.1 Description 45
6.10.2 Operands 45
6.10.3 AKD_SET_MODE Structure 45
6.10.4 Operation Modes 45
6.10.5 Execution 46
6.10.6 Changes to Axis Status Bits 46
6.11 Motion Axis Set Position (AKD_Set_Position) 47
6.11.1 Description 47
6.11.2 Operands 47
6.11.3 AKD_SET_POSITION Structure 47
6.11.4 Execution 48
6.11.5 Changes to Axis Status Bits 48
6.12 Motion Axis Set Velocity (AKD_Set_Velocity) 49
6.12.1 Description 49
6.12.2 Operands 49
6.12.3 AKD_SET_VELOCITY Structure 49
6.12.4 Execution 49
4 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