Kollmorgen AKD Manual

6.19 Motion Axis Set Parameter (AKD_Set_Parameter)
6.19.1 Description
Use the motion axis set parameter (AKD_Set_Parameter) instruction to modify a drive parameter or execute
a drive command on an axis. The time required to execute the command is highly dependent on the particular
parameter. See Appendix B: AKD Parameters for a list of available parameters and numbering.
6.19.2 Operands
Operand Type Format Description
AKD_Set_Para-
meter
AKD_SET_
PARAMETER
Tag Control tag for this instruction.
Axis AKD_AXIS Tag The name of the axis to modify.
Parameter_Number INT Immediate (See Appendix B: AKD Parameters)
Parameter_Value DINT Immediate Value to which the specified parameter will be
set.
6.19.3 AKD_SET_PARAMETER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 set parameter command has been completed.
.ER (Error) BOOL
The error bit indicates if the instruction detects an error.
6.19.4 Execution
Condition Ladder Diagram Action
Pre-scan Initialize variables and clear timeout.
Rung-condition-
in is false
Initialize variables and clear timeout.
Instruction exe-
cution
Send command to axis to set value. Set done bit when axis response is received. If a
general fault or timeout occurs, set the error bit.
6.19.5 Changes to Axis Status Bits
Ethernet IP with RSLogix | 6 AKD Instructions
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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