Kollmorgen AKD Manual

Ethernet IP with RSLogix | 6 AKD Instructions
Mnemonic Data
Type
Description
.ER (Error) BOOL
The error bit indicates if the instruction detects an error.
6.11.4 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 position 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.
6.11.5 Changes to Axis Status Bits
Bit Name State Meaning
Profile_In_Progress True Profile move is in progress.
On_Target_Position True True once current position equals last target position.
48 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