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Can Open + motion profile | 27 Jul 2015 | |

Can Open + motion profile


I have one customer using an AKD P with CanOpen Communication, and he wants to have an S-Curve profile instead of the standard trapezoidal motion profile.

Is this possible? I can't find any information about this with CanOpen.


Comments & Answers

jcoleman02 | Mon, 07/27/2015 - 12:55
1.  If you are running Profile Position Mode (which uses Motion Task 0), then use MT.CNTL and MT.TNUM to configure the s-curve.

MT.TNUM specifies the Table Number.  Default is 0.  There are only 2 predefined tables, 0 and 1.  The tables provide different shapes for the accel/decel profile.

Bits 10 and 11 of MT.CNTL specify the acceleration profile type.  MT.CNTL is CAN object 35B9.

Bit10=0 and Bit11=0:
Trapezoidal acceleration and deceleration.  (Linear acceleration)

Bit10=1 and Bit11=0:
1:1 motion profile table motion task. The drive follows the customer motion profile table without inserting a constant velocity phase between the acceleration and deceleration process. This setting allows the usage of nonsymmetric velocity profiles.
The MT.TNUM parameter defines which table to use for the 1:1 profile handling.

Bit10=1 and Bit11=1:
Standard motion profile table motion task. The drive accelerates according to the shape of the motion profile table by stepping through the first half of the customer table. Then the drive inserts a constant velocity phase until the brake point is reached. Finally, the drive decelerates by stepping through the second half of the customer profile table.
The MT.TNUM parameter defines which table to use for the 1:1 profile handling. This mode allows also a change on the fly between motion tasks (see Table 3 above). See "AKD Customer Profile Application Note" on the Kollmorgen web site ( for additional details.

So Bit11=0 is somewhat like a triangular move with s-curve.  Bit11=1 is like a trapezoidal move with s-curve.

2.  If you are running Interpolated Position Mode, then the acceleration profile is determined by the target position data points.  The profile would be defined in the master controller.

Johan Carradot | Mon, 07/27/2015 - 15:42

Thanks for the answer, I just have an issue, if I set bit 11 and 10 to 1 in MT.CNTL every time I start a move with the controlWord (Hex: 6040) command 0F and then 1F, the bit 11 and 10 are reset and the move is executed with trapezoidal profiles. It seems MT.CNTL is overwrite by the controlword. 

*EDIT*: Sorry, the customer actually made a mistake, so it's working perfectly, Thanks again

jcoleman02 | Mon, 07/27/2015 - 15:43
If MT.CNTL bits 10 and 11 will not stay set while starting the move, then you will be limited to using Interpolated Position mode.  But please make sure you are not over-writing object 35B9 (MT.CNTL) immediately before starting the move.

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Johan Carradot