Determining Motion Instruction Compatibility

It is important to note the following:

Only motion instructions that support AXIS_VIRTUAL can be used with the AKD2G-SPI with CIP Sync. It is important to reference the Logix 5000 Controllers Motion Instruction manual and determine if an instruction you wish to use supports the axis type AXIS_VIRTUAL.

  • Instructions that support AXIS_VIRTUAL are expected to be supported. It is recommended to test each instruction before use.

  • Instructions that do not support AXIS_VIRTUAL are not supported by the AKD2G CIP Sync drive/axis.

Motion Instructions Supported by Kollmorgen

Studio 5000 includes a set of Motion Instructions within the Studio 5000 environment. The following Motion Instructions have been tested by Kollmorgen for compatibility with the AKD2G-SPI and CIP Sync.


  • The following instructions are only valid when Position Following (Streaming) is enabled.
Supported Motion Instructions

Studio 5000 Motion Instruction

Usage

MAM (Motion Axis Move)

Point-to-Point, Relative, or Absolute Move: Position Mode and Streaming

MAJ (Motion Axis Jog)

Jogging: Position Mode Only and Streaming

MAG (Motion Axis Gear)

Electronic Gearing: Position Mode and Streaming

MAPC (Motion Axis Position Cam)

Camming: Position Mode and Streaming

MAS (Motion Axis Stop)

Stops the axis while streaming.

Motion Instructions Not Supported by Kollmorgen

Some very common Studio 5000 Motion Instructions are NOT supported by the AKD2G-SPI drive. These instructions are supplemented with a Kollmorgen Add-On Instruction (AOI) to generate equivalent behavior.


  • The following instructions are only valid when Position Following (Streaming) is NOT enabled.
Unsupported Motion Instructions

Kollmorgen AOI

Replaces Rockwell Motion Instruction

CIP_Axis_Disable

MSF (Motion Servo Off)

CIP_Axis_Enable

MSO (Motion Servo On)

CIP_Axis_Home

MAH (Motion Axis Home)

CIP_Axis_Fault_Reset

MAFR (Motion Axis Fault Reset)

The following Studio 5000 registration instructions do not support the axis type AXIS_VIRTUAL:

  • MAR: Motion Arm Registration

  • MDR: Motion Disarm Registration

To provide functionality allowing arming, disabling, and capturing position and timestamps on a registration sensor (i.e., digital input), touch probe functionality has been implemented in the drive. For more information, see AKD2G EtherNet/IP Touch Probes.