Kollmorgen AKD-N-DB Benutzerhandbuch Seite 1059

AKD Benutzerhandbuch | 25.30.3 MT.CNTL
parameter is a temporary value, since a motion task is only set after an MT.SET (➜ S. 1082) com-
mand is issued.
Since this parameter is read bitwise, it can combine multiple functions into a single word. The meaning
of each bit is described in the tables below.
Table 1: Motion Task (MT) Bit Descriptions
Bit Meaning Description
0 0x00001 See Table 2: MT Type.
1 0x00002
2 0x00004
3 0x00008
4 0x00010 If this bit is 0, then the next MT is not executed.
5 0x00020 See Table 3: Next MT Start Type.
6 0x00040
7 0x00080
8 0x00100
9 0x00200
10 0x00400 See Table 4: MT Acceleration Type.
11 0x00800
12 0x01000 Deprecated as of firmware version 01-11-02-000.
13 0x02000 If this bit is 0, then an attempt to trigger any new motion task will be accepted while
14 0x04000 If this bit is set, the motion task that is supposed to be started cannot be started from
15 0x08000 Reserved.
16 0x10000 The motion task target velocity will be taken from an external source such as an ana-
17 0x20000 Fixed stop detection.
Table 2: MT Type
Bits 0, 1, 2, 3 Description
0000
1000
0001
0011
If this bit is 1, then the next MT is executed.
In previous versions of firmware this bit enabled the feedrate for homing (see
HOME.FEEDRATE (➜ S. 875)).
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.
velocity 0. The motion can be started if a motion task already running will be inter-
rupted.
log input signal (see AIN.MODE (➜ S. 418) 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. 1102) + MT.P (➜ S. 1079)
Relative to Previous Target Position. The target position is defined
as:
Target position = Target position of the last motion task + MT.P
KOLLMORGEN | Dezember 2014 1059