Kollmorgen AKD-C01007-MCEC Benutzerhandbuch Seite 950

AKD Benutzerhandbuch | 24.29.3 MT.CNTL
Bits
9, 8,
7, 6, 5
00000
00001
00010
00011
00111
10000
11000
Table 4: MT Acceleration Type
Bits
11,
10
00 Trapezoidal acceleration and deceleration.
01
11
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Fahraufträge (S. 175)
950 KOLLMORGEN | Mai 2014
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. 966)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. 966)must elapse and 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, then delay or external event. After an MT
ends, the MT.TNEXT (S. 966) must elapse or an external event (such as a high digital
input) must occur in order to start the next MT.
Switches over to the next MT at present MT speed (change on the fly). After reaching
the target position of an MT, the next MT starts. The drive then accelerates with the
adjusted acceleration ramp of this next MT to the target velocity of this next MT. The
MT.TNEXT (S. 966) setting is ignored.
Switches over to the next MT at next MT speed (change on the fly).When the target
position of an MT is reached, the drive has already accelerated with the acceleration
ramp of the next MT to the target velocity of the next MT. Thus, the drive begins the
next MT at the next MT target velocity. The MT.TNEXT (S. 966) setting is ignored if
adjusted.
1:1 motion profile table motion task. The drive follows the customer motion profile table
without inserting a constant velocity phase between the acceleration and deceleration
process. This setting allows the usage of nonsymmetric velocity profiles.
The MT.TNUM parameter defines which table to use for the 1:1 profile handling.
Standard motion profile table motion task. The drive accelerates according to the shape
of the motion profile table by stepping through the first half of the customer table. Then
the drive inserts a constant velocity phase until the brake point is reached. Finally, the
drive decelerates by stepping through the second half of the customer profile table.
The MT.TNUM parameter defines which table to use for the 1:1 profile handling. This
mode allows also a change on the fly between motion tasks (see Table 3 above). See
"AKD Customer Profile Application Note" on the Kollmorgen web site
lmorgen.com) for additional details.
Description
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