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	See Table 4: MT Acceleration Type.
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: Target position = AXIS#.PL.CMD + AXIS#.MT.P
0011	Relative to Previous Target Position. The target position is defined as: Target position = Target position of the last motion task + AXIS#.MT.P
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: Target position = AXIS#.PL.FB + AXIS#.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 (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. 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. 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.

Table 4: MT Acceleration Type

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.