Kollmorgen AKD Series Benutzerhandbuch Seite 814

AKD Benutzerhandbuch | 25.29.3 MT.CNTL
Bit Meaning
5 0x00020
6 0x00040
7 0x00080
8 0x00100
9 0x00200
10 0x00400
11 0x00800
12 0x01000
13 0x02000
14 0x04000
15 0x08000 Reserved.
16 0x10000
Table 2: MT Type
Bits 3, 2, 1, 0
0000
1000
0001
0011
0101
0111
Table 3: Next MT Start Type
Bits
9, 8,
7, 6, 5
00000
00001
00010
00011
See Table 3: Next MT Start Type.
See Table 4: MT Acceleration Type.
Activates the override functionality for a trapezoidal MT.
If this bit is 1, a motion task with override functionality must be activated (see
bit 5).
If this bit is 0, then an attempt to trigger any new motion task will be accepted
while this motion task is currently running.
If this bit is 1, then an attempt to trigger any new motion task will be denied
while this motion task is currently running.
If this bit is set, the motion task that is supposed to be started cannot be
started from velocity 0. The motion can be started if a motion task already run-
ning will be interrupted.
The motion task target velocity will be taken from an external source such as an
analog input signal (see AIN.MODE (s: 394) for further details).
Absolute. The target position is defined by the MT.P value.
Reserved.
Relative to Command Position. The target position is defined as:
Target position = PL.CMD (s: 838) + MT.P (s: 826)
Relative to Previous Target Position. The target position is defined as:
Target position = Target position of the last motion task + MT.P
Reserved.
Relative to Feedback Position. The target position is defined as:
Target position = PL.FB (s: 846) + MT.P (s: 826)
Switches over to next MT after stopping. After an MT ends, the next MT starts imme-
diately.
Switches over to next MT after stopping and delay. After an MT ends, the MT fol-
lowing time (MT.TNEXT (s: 829)elapse in order to start the next MT.
Switches over to next MT after stopping and external event. After an MT ends, an
external event (such as a high digital input) must occur in order to start the next MT.
Switches over to next MT after stopping, delay, and external event. After an MT ends,
the MT.TNEXT (s: 829)must elapse and an external event (such as a high digital
input) must occur in order to start the next MT.
Description
Description
Description
KOLLMORGEN | Mai 2013 814