6.14 Motion Axis Shutdown Reset (AKD_Shutdown_Reset)
6.14.1 Description
Use the motion axis shutdown reset (AKD_Shutdown_Reset) instruction to transition an axis from the Shut-
down state to the Disabled ready state. All faults associated with the specified axis are automatically
cleared. Corresponds to the MASR instruction in Rockwell drives.
The AKD_Shutdown_Reset instruction execution may take multiple scans to execute because it requires
transmission of a message to the motion module and time for the drive to execute the command. The Done
(.DN) bit is not set immediately, but only after the drive is reset.
This is a transitional instruction:
l In ladder diagram, toggle the rung-condition-in from cleared to set each time the instruction should
execute.
6.14.2 Operands
Operand Type Format Description
AKD_Shutdown_Reset AKD_SHUTDOWN_RESET Tag Control tag for this instruction.
Axis AKD_AXIS Tag The name of the axis to reset.
6.14.3 AKD_SHUTDOWN_RESET 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 axis is successfully reset.
.ER (Error) BOOL
The error bit indicates if the instruction detects an error.
6.14.4 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, disable axis, and reset faults. Set done bit when all axis command
responses received. If a general fault occurs or there is a communication response timeout,
set the error bit.
Ethernet IP with RSLogix | 6 AKD Instructions
Kollmorgen | kdn.kollmorgen.com | November 2018 53
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