Motion Axis Set Acceleration (Akd_Set_Accel); Description; Operands; Akd_Set_Accel Structure - Kollmorgen AKD Manual

6.8 Motion Axis Set Acceleration (AKD_Set_Accel)

6.8.1 Description

Use the motion axis set acceleration (AKD_Set_Accel) instruction to set the axis acceleration parameter
used with axis moves.
The AKD_Set_Accel instruction execution may take multiple scans to execute because it requires trans-
mission of a message to the motion module. The Done (.DN) bit is not set immediately, but only after the
acceleration is set.
This is a transitional instruction. In ladder diagram, toggle the rung-condition-in from cleared to set each time
the instruction should execute.

6.8.2 Operands

Operand Type
AKD_Set_Accel AKD_SET_ACCEL Tag
Axis AKD_AXIS
Accel DINT

6.8.3 AKD_SET_ACCEL 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.
.DN BOOL The done bit indicates when the acceleration is successfully set.
(Done)
.ER (Error) BOOL The error bit indicates if the instruction detects an error.

6.8.4 Execution

Condition Ladder Diagram Action
Prescan Initialize variables and clear timeout.
Rung-con- Initialize variables and clear timeout.
dition-in is
false
Instruction Reset done and error bits and send acceleration command when instruction is enabled. Set
execution done bit when axis command response received. If a general fault occurs or there is a com-
munication response timeout, set the error bit.
Ethernet IP with RSLogix | 6 AKD Instructions
Format Description
Control tag for this instruction.
Tag The name of the axis to modify.
Immediate Acceleration parameter for axis moves.
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