6.11 Motion Axis Set Position (AKD_Set_Position)
6.11.1 Description
Use the motion axis set position (AKD_Set_Position) instruction to set an axis’ position target for the servo
position control mode loop.
The AKD_Set_Position instruction initiates axis motion the same as the AKD_Move instruction. It is recom-
mended to use AKD_Set_Position instruction only for updating the target position of a move already in pro-
gress or for repeating the previous move with a new target position. Use the AKD_Move for all other position
motion.
To successfully execute an AKD_Set_Position instruction, the drive must be enabled, homed, and in position
mode.
The AKD_Set_Position 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
position 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.
6.11.2 Operands
Operand Type Format Description
AKD_Set_Position AKD_SET_POSITION Tag Control tag for this instruction.
Axis AKD_AXIS Tag The name of the axis to modify.
Incremental BOOL Immediate For this position value Enter:
Absolute 0
Incremental 1
Position DINT Immediate Position value for axis position control loop.
6.11.3 AKD_SET_POSITION 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 position is successfully set.
Ethernet IP with RSLogix | 6 AKD Instructions
Kollmorgen | kdn.kollmorgen.com | November 2018 47
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