AKD User Guide | MT Parameters and Commands
MT.CNTL
General Information
Type R/W Parameter
Description Sets motion task control word; active in opmode 2 (position) only.
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
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
35AFh/0
6086h/0
M_01-00-00-000
Modbus 532 M_01-03-00-000
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
Activates the override functionality for a trapezoidal MT.
If this bit is 1, a motion task with override functionality must be activated
(see bit 5).
Table 2: MT Type
Bits 3, 2, 1, 0 Description
0000 Absolute MT. The target position is defined by the MT.P value.
516 Kollmorgen | December 2010
To Next Page
Loading...
