AXIS#.MT.CNTL
Description
The controlword describes the behavior of the motion task.
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. If this bit is 1, then the next MT is 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 |
Reserved. |
|
13 |
0x02000 |
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. |
|
14 |
0x04000 |
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 running will be interrupted. |
|
15 |
0x08000 |
Reserved. |
| 16 | 0x10000 | The motion task target velocity will be taken from an external source such as an analog input signal. |
Table 2: MT Type
|
Bits 0, 1, 2, 3 |
Description |
|---|---|
|
0000 |
Absolute. The target position is defined by the AXIS#.MT.P value. |
|
1000 |
Reserved. |
|
0001 |
Relative to Command Position. The target position is defined as: |
|
0011 |
Relative to Previous Target Position. The target position is defined as: |
|
0101 |
Relative to External Start Position. The target position is defined as: Target position = External start position + AXIS#.MT.P |
|
0111 |
Relative to Feedback Position. The target position is defined as: |
Table 3: Next MT Start Type
|
Bits 5, 6, 7, 8, 9 |
Description |
|---|---|
|
00000 |
Switches over to next MT after stopping. After an MT ends, the next MT starts immediately. |
|
00001 |
Switches over to next MT after stopping and delay. After an MT ends, the MT following time (AXIS#.MT.TNEXTelapse in order to start the next AXIS#.MT. |
|
00010 |
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 AXIS#.MT. |
|
00011 |
Switches over to next MT after stopping, delay, and external event. After an MT ends, the AXIS#.MT.TNEXT must elapse and an external event (such as a high digital input) must occur in order to start the next AXIS#.MT. |
|
00111 |
Switches over to next MT after stopping, then delay or external event. After an MT ends, the AXIS#.MT.TNEXT must elapse or an external event (such as a high digital input) must occur in order to start the next AXIS#.MT. |
|
10000 |
Switches over to the next MT while still in motion (change on the fly). After reaching the target position (MT.P), the next MT starts. The drive then accelerates with the adjusted acceleration ramp of this next MT to the target velocity of this next AXIS#.MT.V. Note: this is not possible if the following motion task is in the opposite direction. If the following task is in the opposite direction, the axis will come to rest before reversing in the opposite direction.
|
|
11000 |
Switches over to the next MT while still in motion (change on the fly). After reaching the target position (MT.P), the drive has already accelerated with the acceleration ramp of the next MT to the target velocity AXIS#.MT.V. Thus, the drive begins the next MT at the next MT target velocity.
|
|
Bits 10, 11 |
Description |
|---|---|
|
00 |
Trapezoidal acceleration and deceleration. |
Examples
Code
Modifies the bitfield for motion task 0. The first parameter is the motion task number and the second is the new bitfield to overwrite the existing bitfield
-->AXIS1.MT.CNTL 0 [bitmask]
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-00-00-000 |
General Information
This content is not applicable to KAS.
|
Type |
Read/Write Array |
|
Units |
N/A |
|
Range |
0 to 4,294,967,295 |
|
Default Value |
0 |
|
Data Type |
Integer |
|
Stored in Non-Volatile Memory |
Yes |
Variants Supported
All variants are supported.
Fieldbus Information
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
AXIS1.MT.CNTL 0 |
50d7h |
01h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 1 |
50d7h |
02h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 2 |
50d7h |
03h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 3 |
50d7h |
04h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 4 |
50d7h |
05h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 5 |
50d7h |
06h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 6 |
50d7h |
07h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 7 |
50d7h |
08h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 8 |
50d7h |
09h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 9 |
50d7h |
0ah |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 10 |
50d7h |
0bh |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 11 |
50d7h |
0ch |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 12 |
50d7h |
0dh |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 13 |
50d7h |
0eh |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 14 |
50d7h |
0fh |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 15 |
50d7h |
10h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 16 |
50d7h |
11h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 17 |
50d7h |
12h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 18 |
50d7h |
13h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 19 |
50d7h |
14h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 20 |
50d7h |
15h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 21 |
50d7h |
16h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 22 |
50d7h |
17h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 23 |
50d7h |
18h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 24 |
50d7h |
19h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 25 |
50d7h |
1ah |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 26 |
50d7h |
1bh |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 27 |
50d7h |
1ch |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 28 |
50d7h |
1dh |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 29 |
50d7h |
1eh |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 30 |
50d7h |
1fh |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS1.MT.CNTL 31 |
50d7h |
20h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 0 |
51d7h |
01h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 1 |
51d7h |
02h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 2 |
51d7h |
03h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 3 |
51d7h |
04h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 4 |
51d7h |
05h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 5 |
51d7h |
06h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 6 |
51d7h |
07h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 7 |
51d7h |
08h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 8 |
51d7h |
09h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 9 |
51d7h |
0ah |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 10 |
51d7h |
0bh |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 11 |
51d7h |
0ch |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 12 |
51d7h |
0dh |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 13 |
51d7h |
0eh |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 14 |
51d7h |
0fh |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 15 |
51d7h |
10h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 16 |
51d7h |
11h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 17 |
51d7h |
12h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 18 |
51d7h |
13h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 19 |
51d7h |
14h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 20 |
51d7h |
15h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 21 |
51d7h |
16h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 22 |
51d7h |
17h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 23 |
51d7h |
18h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 24 |
51d7h |
19h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 25 |
51d7h |
1ah |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 26 |
51d7h |
1bh |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 27 |
51d7h |
1ch |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 28 |
51d7h |
1dh |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 29 |
51d7h |
1eh |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 30 |
51d7h |
1fh |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.MT.CNTL 31 |
51d7h |
20h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
Name |
ID |
Hex |
Data Type |
Access |
Units |
|---|---|---|---|---|---|
|
AXIS1.MT.CNTL |
6302 |
189E |
Unsigned32[32] |
Read/Write |
- |
|
AXIS2.MT.CNTL |
71838 |
1189 |
Unsigned32[32] |
Read/Write |
- |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
AXIS#.MT.CNTL |
6302 |
Unsigned32[32] |
Read/Write |
- |
