Description; Operands; Motion Axis Set Home Mode (Akd_Set_Home_Mode) - Kollmorgen AKD Manual

6.7 Motion Axis Set Home Mode (AKD_Set_Home_Mode)

6.7.1 Description

Use the motion axis set home mode (AKD_Set_Home_Mode) instruction to set the homing mode used by the
drive when the AKD_Home command is called.
The AKD_Set_Home_Mode instruction execution may take multiple scans to execute because it requires
transmission of a message to the motion module. The Done (.DN) bit is not set immediately, but only after
the home mode is set.
This is a transitional instruction:
In ladder diagram, toggle the rung-condition-in from cleared to set each time the instruction should
o
execute.

6.7.2 Operands

Operand
AKD_Set_ Home_
Mode
Axis
Mode
Type
AKD_SET_ HOME_
MODE
AKD_AXIS
SINT
Ethernet IP with RSLogix | 6 AKD Instructions
Format Description
Tag Control tag for this instruction.
Tag The name of the axis to modify.
Immediate For Mode
Current Position
Limit Input
Limit/Zero Angle
Limit/Index
Home Input
Home/Zero Angle
Home/Index
Zero Angle
Position Error
Position Error/Zero
Angle
Position Error/Index
Index
Home OR Position
Error
Kollmorgen | kdn.kollmorgen.com | November 2018
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