AKD User Guide | 12 Creating Motion
l Start Condition: This box allows for different start conditions to initiate the following task. Currently, the
only option is a dwell delay. The dwell delay time can be entered in the dwell time box.
l Blend: It is possible to blend moves together by using the blend option. This option allows either a blend
to velocity, or blend to acceleration.
Once you have entered the data, you can click on the Motion Task root directory to bring the table up to execute
your moves.
12.2.3.1 Motion Profiles
Trapezoidal moves include a fixed ramped acceleration (set by MT.ACC), a traverse period at velocity (set by
MT.VEL), and a fixed ramped deceleration (set by MT.DEC). The distance traveled during the move is deter-
mined by the type of move (absolute or incremental). Position is set using MT.P. Note that for short moves, the
traverse velocity may not ever be reached.
12.2.3.2 Motion Types
Motion tasks can use the following motion types:
l Absolute
l Relative to current position command (PL.CMD)
l Relative to the target position of the previous motion task
Motion types define how the target position will be calculated. These can be either incremental (relative) or abso-
lute. An incremental move is a move that increments a specific distance. The AKD allows the user to increment
based on two different beginning positions as described below. Absolute moves move to a specific position
based the actual position form an established zero or home point.
Absolute motion task
An absolute move type will move to the actual position indicated by MT.P. A home move would have been estab-
lished to provide the reference for actual positions on the machine. In this case, the target position =
PL.CMD=MT.P
Example:
You want to move to a position that is 68 degrees from home reference.
On the Motion Task edit page, Select the Absolute move type, and then enter 68 into the position
block (units should be set in degrees). Enter the traverse speed and adjust the acceleration and
deceleration parameters as needed. Once you move off the edit screen you can select this task
and initiate a start. Regardless of your current position, the motor will now rotate to the absolute
position of 68 degrees as referenced from the home position.
Motion task relative to current position command (PL.CMD)
This type is simply an incremental move. The target position is based on the current position represented by
PL.CMD plus the increment you want to move. Specifically, Target Position = PL.CMD + MT.P.
Example:
132 Kollmorgen | December 2010
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