Motion Axis Set Velocity (Akd_Set_Velocity); Description; Operands; Akd_Set_Velocity Structure - Kollmorgen AKD Manual

6.12 Motion Axis Set Velocity (AKD_Set_Velocity)

6.12.1 Description

Use the motion axis set velocity (AKD_Set_Velocity) instruction to set an axis' velocity setpoint for the servo
control loop.
The AKD_Set_Velocity instruction initiates axis motion the same as the AKD_Jog instruction, when in velo-
city mode. It is recommended to use AKD_Set_Velocity instruction only for updating the target speed of a
jog already in progress and the AKD_Jog for all other constant speed motion.
To successfully execute an AKD_Set_Velocity instruction, the drive must be enabled, homed, and in velocity
mode.
The AKD_Set_Velocity 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
velocity is set.
This is a transitional instruction:
In ladder diagram, toggle the rung-condition-in from cleared to set each time the instruction should
l
execute.

6.12.2 Operands

Operand Type
AKD_Set_Velocity AKD_SET_VELOCITY Tag
Axis AKD_AXIS
Velocity DINT

6.12.3 AKD_SET_VELOCITY 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 velocity is successfully set.
(Done)
.ER (Error) BOOL The error bit indicates if the instruction detects an error.
6.12.4 Execution
Ethernet IP with RSLogix | 6 AKD Instructions
Format Description
Control tag for this instruction.
Tag The name of the axis to modify.
Immediate Set velocity for axis control loop.
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