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AKD-P GEAR vs. AKD-T EGEAR vs. KAS Gearing | 22 May 2017 | |

AKD-P GEAR vs. AKD-T EGEAR vs. KAS Gearing

The AKD-P has a parameter "GEAR.MODE" which is selectable for Velocity matching or position matching when gearing is activated.  This does not seem to be available in the AKD-T?  That is, will it always try to match to position?  Or is there a way around it by zeroing out the MOVE.POSCOMMAND and FEEDBACK2 position in the program right before commanding "EGEAR.ON"?

In my application, we need to activate gearing, but only to match velocity.  Gearing will be turned ON and OFF by separate outputs from another controller.  In addition, we also need to superimpose a MOVE.REL on top of the EGEAR speed.  For example, command EGEAR.ON is issued, and motor wants to accelerate to match FEEDBACK2 speed of 300 RPM.  Superimposed on top of that is a trapezoidal move of 6500 counts (FEEDBACK1) at 300 RPM.  So the motor accelerates to 600 RPM for the duration of 6500 counts then decelerates back to EGEAR (FEEDBACK2) speed of 300 RPM.

Can we superimpose a move using an AKD-P?  AKD-T certainly can superimpose a move, but I need a way to do velocity matching for the EGEAR.  Or is this easier with PDMM?

Comments & Answers

toddevans01 said ...

toddevans01 | Tue, 05/23/2017 - 15:53

The AKD-P can't do a move over top of gearing.
Both AKD-T and PDMM can.
The AKD-T's processor speed is nowhere near the PDMM.
Although technically the AKD-T can do registration, gearing, and camming, typically for these and time critical applications the PDMM may cost more but in my opinion is the best choice so that program latency isn't an obstacle in the application.

To answer your question in regards to velocity vs. position matching in the AKD-T:
The EGEAR.LOCK indicates that velocity synchronization has been achieved.
Workbench Help shows sample code in the definition of EGEAR.LOCK that you can use EGEAR.ERROR to capture lost position on acceleration and do a relative move to "catch up" if position matching is needed ( see below ).

Hence, there is no GEAR.MODE like the AKD-P in the AKD-T.

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If you have an AKD-T demo, I would recommend you do a bench test to evaluate.

If you have questions about using the PDMM in your application please consult with our KAS Tech Support team.

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