Kollmorgen AKD Manual

6.10 Motion Axis Set Mode (AKD_Set_Mode)
6.10.1 Description
Use the motion axis set mode (AKD_Set_Mode) instruction to set the operation mode for the axis’ servo loop
control.
The AKD_Set_Mode 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
mode is set.
This is a transitional instruction:
l In ladder diagram, toggle the rung-condition-in from cleared to set each time the instruction should
execute.
6.10.2 Operands
Operand Type Format Description
AKD_Set_Mode AKD_SET_MODE Tag Control tag for this instruction.
Axis AKD_AXIS Tag The name of the axis to modify.
Move Type SINT Immediate For Mode Enter:
Position 0
Velocity 1
Torque 2
6.10.3 AKD_SET_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.
6.10.4 Operation Modes
Mode Description
Position (0) Axis will operate to match current position to target position.
Ethernet IP with RSLogix | 6 AKD Instructions
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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