Kollmorgen AKD Manual

6.20 Motion Axis Set Units (AKD_Set_Units)
6.20.1 Description
Use the motion axis set units (AKD_Set_Units) instruction to set the current unit system used on an axis.
At the moment, only mode 0 (EIP.POSUNIT=65536 and EIP.PROFUNIT=65536) is available. These scaling
values can also be modified directly through EtherNet/IP or Workbench. See the AKD EtherNet/IP User
Manual for more information about unit scaling.
6.20.2 Operands
Operand Type Format Description
AKD_Set_Units AKD_SET_UNITS Tag Control tag for this instruction.
Axis AKD_AXIS Tag The name of the axis to modify.
Units SINT Immediate For units Enter:
Counts 0
6.20.3 AKD_SET_UNITS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 units command has been completed.
.ER (Error) BOOL
The error bit indicates if the instruction detects an error.
6.20.4 Execution
Condition Ladder Diagram Action
Pre-scan Initialize variables and clear timeout.
Rung-con-
dition-in is
false
Initialize variables and clear timeout.
Instruction
execution
Send command to axis to set units and if necessary update settings. Set done bit when axis
response is received. If a general fault or timeout occurs, set the error bit.
6.20.5 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