6.12 Motion Axis Set Velocity (AKD_Set_Velocity)
6.12.1 Description
Use the motion axis set velocity (AKD_Set_Velocity) instruction to set an axis’ velocity setpoint for the servo
control loop.
The AKD_Set_Velocity instruction initiates axis motion the same as the AKD_Jog instruction, when in velo-
city mode. It is recommended to use AKD_Set_Velocity instruction only for updating the target speed of a
jog already in progress and the AKD_Jog for all other constant speed motion.
To successfully execute an AKD_Set_Velocity instruction, the drive must be enabled, homed, and in velocity
mode.
The AKD_Set_Velocity 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
velocity 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.
6.12.2 Operands
Operand Type Format Description
AKD_Set_Velocity AKD_SET_VELOCITY Tag Control tag for this instruction.
Axis AKD_AXIS Tag The name of the axis to modify.
Velocity DINT Immediate Set velocity for axis control loop.
6.12.3 AKD_SET_VELOCITY 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 velocity is successfully set.
.ER (Error) BOOL
The error bit indicates if the instruction detects an error.
6.12.4 Execution
Ethernet IP with RSLogix | 6 AKD Instructions
Kollmorgen | kdn.kollmorgen.com | November 2018 49
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