Ethernet IP with RSLogix | 6 AKD Instructions
6.7.3 AKD_SET_HOME_MODE 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 mode is successfully set.
.ER (Error) BOOL
The error bit indicates if the instruction detects an error.
6.7.4 Homing Modes
See the AKD User Manual for a full description of each homing mode. This value corresponds to the drive
parameter HOME.MODE.
6.7.5 Execution
Condition Ladder Diagram Action
Prescan Initialize variables and clear timeout.
Rung-con-
dition-in is
false
Initialize variables and clear timeout.
Instruction
execution
Reset the done and error bits and set homing mode when instruction is enabled. Set done bit
when axis homing mode is set. If a general fault occurs or there is a communication response
timeout, set the error bit.
6.7.6 Changes to Axis Status Bit
Bit Name State Meaning
(none)
40 Kollmorgen | kdn.kollmorgen.com | November 2018
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