6.16 Motion Axis Get Position Controller Attribute (AKD_Get_Attribute)
6.16.1 Description
Use the motion axis get attribute (AKD_Get_Attribute) instruction to query a Position Controller attribute from
an axis. This instruction provides quick access to a special set of drive parameters which can always be
accessed in one communication cycle. The output value will be updated with live values each cycle as long
as this instruction is enabled.
This instruction must not be enabled at the same time as the AKD_Get_Parameter instruction.
See Appendix A: Position Controller Object Attributes for a list of available attributes and numbering.
6.16.2 Operands
Operand Type Format Description
AKD_Get_Attrib-
ute
AKD_GET_
ATTRIBUTE
Tag Control tag for this instruction.
Axis AKD_AXIS Tag The name of the axis to query.
Attribute_Number INT Immediate (See Appendix A: Position Controller Object
Attributes)
Attribute_Value DINT Tag Output tag to which the value of the attribute is
passed.
6.16.3 AKD_GET_ATTRIBUTE 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 get attribute command has been completed.
.ER (Error) BOOL
The error bit indicates if the instruction detects an error.
6.16.4 Execution
Condition Ladder Diagram Action
Pre-scan Initialize variables and clear timeout.
Ethernet IP with RSLogix | 6 AKD Instructions
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