MT.CNTL

Description

MT.CNTL specifies the motion task control word, which is used by the MT.SET and MT.LOAD commands. The control word describes the behavior of the motion task. This parameter is a temporary value, since a motion task is only set after an MT.SET command 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.

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

Deprecated as of firmware version 01-11-02-000.
In previous versions of firmware this bit enabled the feedrate for homing (see HOME.FEEDRATE).

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 (see AIN.MODE for further details).

Table 2:  MT Type

Bits 0, 1, 2, 3 Description

0000

Absolute. The target position is defined by the MT.P value.

1000

Reserved.

0001

Relative to Command Position. The target position is defined as:
Target position = PL.CMD + MT.P

0011

Relative to Previous Target Position. The target position is defined as:
Target position = Target position of the last motion task + MT.P

0101

Relative to External Start Position. The target position is defined as:

Target position = External start position + MT.P

0111

Relative to Feedback Position. The target position is defined as:
Target position = PL.FB + MT.P

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 (MT.TNEXTelapse in order to start the next 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 MT.

00011

Switches over to next MT after stopping, delay, and external event. After an MT ends, the MT.TNEXTmust elapse and an external event (such as a high digital input) must occur in order to start the next MT.

00111

Switches over to next MT after stopping, then delay or external event. After an MT ends, the MT.TNEXT must elapse or an external event (such as a high digital input) must occur in order to start the next MT.

10000

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 setting is ignored.

11000

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 setting is ignored if adjusted.

Table 4:  MT Acceleration Type

Bits 10, 11 Description

00

Trapezoidal acceleration and deceleration.

01

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.

11

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 (www.kollmorgen.com) for additional details.

General Information

Type

R/W Parameter

Units

N/A

Range

0 to 4,294,967,295

Default Value

0

Data Type

Integer

See Also

MT.NUM, MT.P, MT.V, MT.ACCMT.V, MT.DEC, MT.TNUM, MT.MTNEXT MT.MTNEXT, MT.SET , MT.LOAD

Start Version

M_01-00-00-000

Variants Supported

Variant Supported
AKD Base No
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC No
AKD SynqNet No
AKD EtherNet/IP Yes
AKD PROFINET Yes
AKD Sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information

If your drive type is listed as supported but no index, address, or instance number is listed, then this parameter is accessible through WorkBench, but not over your fieldbus type. For information on SynqNet parameters see SynqNet Supported Parameters.

EtherCAT CoE and CANopen ]
Index/Subindex Object Start Version

35B9h/0

M_01-00-00-000
PROFINET and Sercos® III
Fieldbus Address Attributes Signed?

PROFINET

2266 DWord No
Sercos® III 4 Octets
EtherNet/IP
Instance Data Size Data Type
267 4 Byte Integer
Modbus
Register Address Is 64 bit? Attributes Signed? Object Start Version

532

No 32 bit No M_01-03-00-000

Related Topics

Motion Tasks

Fixed Stop