AKD User Guide | 12 Creating Motion
reaching the target position, and is completed at the target position of the first move, and the traverse
velocity of the second move. This only works when both velocitys are in the same direction.
Related Parameters and Commands
MT Parameters and Commands
DRV.MOTIONSTAT: Bit 0 monitors if motion tasking is active.
AIN Parameters
AOUT Parameters
DIN Parameters
DOUT Parameters
HOME Parameters
12.3 Service Motion
Service motion allows you to set up simple motion. It is typically used during initial set up to exercise the system.
It can be used to help troubleshoot the system, execute tuning, make repetative moves for verification of mechan-
ical set up, or for other general simple motion needs. There are multiple ways to set up motion depending on the
desired result in torque, velocity or position modes. In all modes, you can run a momentary pulse, set up revers-
ing motion, or initiate continuous motion. The chart below identifies the commands available on the Sevice
Motion screen.
Button or Dialog Box Description
Pulse
Alternates between the commanded current or velocity and zero velocity. You can
specify the time period between the commanded value and the return to zero. Set-
ting a time to zero will generate a continuous command.
Reversing
Alternates between the two commanded values. You can specify the time the com-
mand will be held in each state.
Continuous Runs the commanded current or velocity continuously.
Velocity 1/Velocity 2 Sets the two different velocities that are commanded
Time 1/Time 2
Sets the time for which the different commands are generated. Setting a time to
zero generates a continuous command.
Acceleration/Deceleration
Used to set acceleration and deceleration values when in velocity and position
modes.
Start/Stop Starts and stops the motion.
Position Feedback Displays the present position of the motor.
Velocity Feedback Displays the present velocity of the motor.
Related Parameters:
SM.I1
SM.I2
SM.I2
SM.MOVE
SM.T1
SM.T2
SM.V1
SM.V2
134 Kollmorgen | December 2010
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