Kollmorgen AKD series User Manual

AKD User Guide | MT Parameters and Commands
MT.TNUM
General Information
Type R/W Parameter
Description
Sets the motion task customer table number; active in opmode 2 (position)
only.
Units N/A
Range 0 to 7
Default Value 0
Data Type Integer
See Also
MT.NUM , MT.P, MT.V, MT.CNTL, MT.ACC, MT.DEC, MT.MTNEXT ,
MT.TNEXT, MT.SET , MT.LOAD
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
Modbus 558 M_01-03-00-000
Description
MT.TNUM specifies the customer profile table and is used by the MT.SET and MT.LOAD command. This
parameter is a temporary value. A motion task is only set after an MT.SET command.
The drive can have up to eight customer specific profile tables. The drive performs an S-curve acceleration with
these profile tables. The shapes of these tables have an impact on the shape of the motion task acceleration and
deceleration. The motion task control word specifies if a customer profile table is used or not.
This parameter has no impact when a trapezoidal motion task acceleration and deceleration profile is selected
(see Table 4: MT Acceleration Typein the MT.CNTL description).
Related Topics
12.2 Motion Tasks
532 Kollmorgen | December 2010

Kollmorgen AKD series Specifications

General

Continuous Current	Up to 180 A
Control Modes	Position, Velocity, Torque
Communication Interfaces	EtherCAT, CANopen, Modbus TCP/IP
Feedback Options	Resolver, Encoder
Safety Features	Safe Torque Off (STO), Safe Stop 1 (SS1)
Protection Features	Overvoltage, Undervoltage, Overcurrent, Short Circuit, Overtemperature
Switching Frequency	8 kHz, 16 kHz
Ambient Temperature	0°C to 40°C
Operating Temperature	0 - 40 °C (derating may apply)
Humidity	5% to 95% non-condensing