6.8 Motion Axis Set Acceleration (AKD_Set_Accel)
6.8.1 Description
Use the motion axis set acceleration (AKD_Set_Accel) instruction to set the axis acceleration parameter
used with axis moves.
The AKD_Set_Accel instruction execution may take multiple scans to execute because it requires trans-
mission of a message to the motion module. The Done (.DN) bit is not set immediately, but only after the
acceleration is set.
This is a transitional instruction. In ladder diagram, toggle the rung-condition-in from cleared to set each time
the instruction should execute.
6.8.2 Operands
Operand Type Format Description
AKD_Set_Accel AKD_SET_ACCEL Tag Control tag for this instruction.
Axis AKD_AXIS Tag The name of the axis to modify.
Accel DINT Immediate
Acceleration parameter for axis moves.
6.8.3 AKD_SET_ACCEL 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 acceleration is successfully set.
.ER (Error) BOOL
The error bit indicates if the instruction detects an error.
6.8.4 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 done and error bits and send acceleration command when instruction is enabled. Set
done bit when axis command response received. If a general fault occurs or there is a com-
munication response timeout, set the error bit.
Ethernet IP with RSLogix | 6 AKD Instructions
Kollmorgen | kdn.kollmorgen.com | November 2018 41
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