Kollmorgen AKD-C01007-MCEC Benutzerhandbuch Seite 949

AKD Benutzerhandbuch | 24.29.3 MT.CNTL
Bit Meaning
0 0x00001
1 0x00002
2 0x00004
3 0x00008
4 0x00010
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
See Table 2: MT Type.
If this bit is 0, then the next MT is not executed.
If this bit is 1, then the next MT is executed.
See Table 3: Next MT Start Type.
See Table 4: MT Acceleration Type.
Deprecated as of firmware version 01-11-02-000.
In previous versions of firmware this bit enabled the feedrate for homing (see
HOME.FEEDRATE (S. 798)).
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. 409) 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. 983) + MT.P (S. 963)
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. 992) + MT.P (S. 963)
Description
Description
KOLLMORGEN | Mai 2014 949