Akd Instructions; Motion Axis Drive Communication (Akd_Drive); Description; Operands - Kollmorgen AKD Manual

Ethernet IP with RSLogix | 6 AKD Instructions

6 AKD Instructions

The AKD Add-On Instructions are RSLogix instructions that define AKD drives and axis configurations.
These instructions are made to be imported into an RSLogix5000 project. Once defined in a project, they func-
tion just as a native RSLogix Motion instruction. The add-on instructions are written to mirror the native
instructions, leveraging existing knowledge of the software. The add-on instructions encapsulate the most
commonly used logic for AKD axes. They provide easily reusable tools to operate drives and axes, promoting
consistency across different projects. They provide easy control of I/O Assembly Messages. The native
MSG instruction is used in RSLogix for sending Explicit Messages.
Only one AKD add-on instruction can be enabled at a time in your project. The add-on instructions write to
the same data structure (the Command Assembly) to set control bits and command motion. Trying to enable
or execute two add-on instructions at one time would create a conflict for the control of the communication
channel. Keep this in mind when writing programs that utilize these instructions.

6.1 Motion Axis Drive Communication (AKD_Drive)

6.1.1 Description

Use the motion axis drive communication (AKD_Drive) instruction to initiate communication for an axis. This
command is required for all other AKD commands to function properly.

6.1.2 Operands

Operand Type
AKD_ AKD_DRIVE
Drive
Axis_ AB:ETHERNET_MODULE_
Input SINT_8Bytes:I:0
Axis_ AB:ETHERNET_MODULE_
Output SINT_8Bytes:O:0
Axis_ AKD_AXIS
Internal
6.1.3 AKD_DRIVE Structure
Mnemonic Data Description
Type
.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.

6.1.4 Execution

28 Kollmorgen | kdn.kollmorgen.com | November 2018
Format Description
Tag Control tag for this instruction.
Tag Input memory space for axis.
Tag Output memory space for axis.
Tag The name of the axis to initialize. This tag is an input
parameter for all AKD instructions.