Continous Motion Task on AKD

In some applications, it is necessary to execute a continuous velocity move for an undetermined length of time, and then stop at a specified angular motor position. This is done by using modulo and setting up a motion task to repeat itself indefinitely until it is set to no longer repeat. Then the task completes at the specified position.

Here is the series of AKD Terminal commands that can be typed into the Workbench Terminal screen or loaded as a macro:

;default user units
UNIT.ACCROTARY 0
UNIT.POUT 20
UNIT.PROTARY 4
UNIT.VROTARY 0

;setup modulo for one rev
PL.MODP1 0.000
PL.MODP2 65536.000
PL.MODPDIR 0
PL.MODPEN 1

;repeating motion task
MT.NUM 0
MT.LOAD
MT.P 0.000
MT.V 60.000
MT.CNTL 528
MT.ACC 10000.170
MT.DEC 10000.170
MT.TNUM 0
MT.MTNEXT 0
MT.TNEXT 0
MT.SET

;start motion task
MT.MOVE 0
#DELAY 10000

;change speed
MT.V 600.000
MT.SET
#DELAY 10000

;change speed back
MT.V 60.000
MT.SET
#DELAY 10000

;target stop position
MT.P 65536.000
MT.V 60.000
MT.CNTL 1
MT.ACC 10000.170
MT.DEC 10000.170
MT.SET