6.21 Motion Axis Torque (AKD_Torque_Move)
6.21.1 Description
Use the AKD_Torque_Move instruction to move an axis at a constant torque without regard to position.
Drive must be enabled and in torque mode in order to execute this instruction.
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 faults have been cleared.
6.21.2 Operands
Operand Type Format Description
AKD_Torque_Move AKD_TORQUE_MOVE Tag Control tag for this instruction.
Axis AKD_AXIS Tag The name of the axis to enable.
Torque DINT Immediate Desired torque in milliarms.
6.21.3 AKD_TORQUE_MOVEStructure
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 torque instruction is successful.
.ER (Error) BOOL
The error bit indicates if the instruction detects an error.
6.21.4 Programming Guidelines
Guideline Details
In ladder diagram, toggle the rung con-
dition each time you want to execute
the instruction.
This is a transitional instruction. In ladder diagram, toggle the
rung-condition-in from cleared to set each time you want to
execute the instruction.
Use an AKD_Stop_Smooth instruction,
or command a zero torque, to stop the
move.
See
Motion Axis Smooth Stop (AKD_Stop_Smooth) (➜ p. 55)
for more details.
6.21.5 Execution
Ethernet IP with RSLogix | 6 AKD Instructions
Kollmorgen | kdn.kollmorgen.com | November 2018 67
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