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. |
|
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: |
|
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 + 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 (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. |
| 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). |
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.
| Index/Subindex | Object Start Version |
|---|---|
|
35B9h/0 |
M_01-00-00-000 |
| Fieldbus | Address | Attributes | Signed? |
|---|---|---|---|
|
PROFINET |
2266 | DWord | No |
| Sercos® III | 4 Octets |
| Instance | Data Size | Data Type |
|---|---|---|
| 267 | 4 Byte | Integer |
| Register Address | Is 64 bit? | Attributes | Signed? | Object Start Version |
|---|---|---|---|---|
|
532 |
No | 32 bit | No | M_01-03-00-000 |
Related Topics
