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Motion Tasks

Overview

The AKD2G offers several options for executing moves, which are called "motion tasks" in WorkBench. You can directly link an input to a single motion task, command over the Ethernet connection, or automatically execute a motion task as the result of the completion of another move event. Using the Motion Task view, you can also set up a single motion task or a sequence of motion tasks through the Motion Task screen. The Motion Task view allows you to modify a variety of parameters for a given move, including move profile, move type, velocity, distance, and acceleration limits.

Motion Task Input Table

Motion tasks can be easily entered and manipulated using the Motion Task Table. With this table, you can enter specific motion tasks and edit tasks, as well as insert and delete tasks. The data table you build remains in WorkBench until you load the tasks into the drive (DRV.NVSAVE ). Once the tasks are loaded, you have access to the graphical representation of the moves.

To configure a motion task, expand one using the arrow and enter the parameters. The Clear button will reset the current motion task and the Clear All button resets all motion tasks.

Contextual Menu

Right-clicking on an entry provides a menu which will let you Expand/Collapse or Copy/Paste the selected action. Copying a task lets you easily duplicate an action you have configured. All of the information will be duplicated.


  • Registration tasks with a Capture Channel are not supported by the Copy/Paste feature.

Configuring Motion Tasks

Motion Tasks can be as simple as moving from point A to point B, or as complex as being chained together with delays and blending.

Use the following options to configure each motion task as desired.

Element Property Description Parameter
Type  

Select whether the move will be Absolute or Relative to a position.

  1. Absolute (Home is the reference point)
  2. Relative to a command position (AXIS#.PL.CMD )
  3. Relative to previous target position
  4. Registration (relative to external position)
  5. Relative to feedback position

See Motion Task Move Types for details on each type.

AXIS#.MT.TYPE
Position   This is the target position, based on the type of move selected. AXIS#.MT.P
Profile Velocity Sets the peak or traverse velocity depending on the move parameters. AXIS#.MT.V
Profile Trapezoidal is the only profile currently available.  
Following Task Next Task ID By default, this is -1, which indicates that there is no following motion task. Setting this to any other value will attempt to execute that motion task as soon as this one is complete. AXIS#.MT.MTNEXT
Transition Type

This selection allows for different start conditions to initiate the following task. By default there is no delay, but using the dwell you can specify time, or if you do not want the axis to stop moving as it transitions to the next motion task, you can choose where the blend occurs by using Type 2 or 3.

  1. No Dwell
  2. Dwell
  3. Blend into acceleration (after MT end)
  4. Blend into acceleration (before MT end)

See Motion Task Transition Types for details on each type.


  • This keyword is not saved, it modifies the bitfield AXIS#.MT.CNTL, which is saved to NV memory
AXIS#.MT.TRANSITION
Dwell Time Only valid when Transition Type is set to 1 (Dwell), this specifies how long the axis should remain at rest until executing the following motion task. AXIS#.MT.TNEXT
Constraints Interrupt Task

Interruptible (set value to 0):
This constraint can be used to interrupt a task that has not been finished. In other words, this constraint will only initiate the interrupt task motion if another task with no constraints is underway. This selection is a good option for registration tasks when the move should only happen if the current task has not finished.

Non-Interruptible (set value to 1):
When this constraint is selected, the task cannot be interrupted by another motion task or task call from inputs.


  • This keyword is not saved, it modifies the bitfield AXIS#.MT.CNTL, which is saved to NV memory
AXIS#.MT.DISALLOWINTERRUPT
Task Start Velocity

Allow Zero Start Velocity (set value to 0):
This is the default case and imposes no restrictions on the motion task.

Don’t allow Zero Start Velocity (set value to 1):
By turning on this feature, if the motion task is executed while the axis is at rest (AXIS#.MT.VCMD = 0), then the motion task will not execute and the axis will remain at rest.
This can be used in applications where you are using a motion task to provide a transition state, but do not want the transition state to execute if the axis is already at rest.


  • This keyword is not saved, it modifies the bitfield AXIS#.MT.CNTL, which is saved to NV memory
AXIS#.MT.DISALLOWZEROSTARTVEL
Registration This section is visible when motion task type 3 is selected. See Registration (relative to external position) for more information.
Capture Channel

Specifies the capture channel used for the registration move for the specified motion task. The default value 0 prevents the motion task from being used as a registration move. Each non-zero value may be used for at most one motion task on the same axis.

  1. None
  2. Capture 1
  3. Capture 2
AXIS#.MT.CAP
Input Selects the digital input trigger source for the capture channel and corresponding registration move. CAP#.TRIGGER
Edge

Selects the trigger edge for the capture channel and corresponding registration move.

  1. Rising Edge
  2. Falling Edge
  3. Rising or Falling Edge
CAP#.EDGE
Buttons Clear The Clear button appears once inside the motion task once it has been defined. Clicking this button will reset the motion task.  
Clear All The Clear All button appears at the bottom of the Motion Tasks view. Clicking it will reset all of the motion tasks.  

Motion Task Move Types

Absolute Moves will use your Home as it’s reference, and the Target Position will be absolute to that home reference. Relative Moves will use a previous target position and make an incremental move from the designated previous target.

Value Motion Task Type
0 Absolute
1 Relative to command position
2 Relative to previous target position
3 Registration (relative to external position)
4 Relative to feedback position

  • This keyword is not saved, it modifies the bitfield AXIS#.MT.CNTL, which is saved to NV memory

Motion Task Transition Types

Executing Motion Tasks

A Motion Task can only be executed if it is valid. Motion Tasks that have been entered correctly will have a green check in the Valid column next to them:

To execute, highlight the motion task you wish to execute. If it is Valid the Start button will enable. Press the start button to begin the motion task and the Stop button to cease the motion task.

Registration Moves

See Registration Moves.


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