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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

Comments

glag's picture
glag
I have an AKD33H motor connected to a AKD-P00606-NBEC.  I have an Ethernet Master Library communicating to the servo.  I followed the macro you have above, but rather than using the Workbench, I was sending a series of SDO requests to update each SDO accordingly.  Some names you listed were not in the "AKD EtherCAT Manual", i.e. MT.SET, MT.MOVE, PL.MODP1, to name a few.  So I was not able to move the motor at a continuous velocity because I didn't know where to address these SDO's.
Is it possible to give me a sequence without using the workbench (i.e. writes to SDO's) in order for me to simply start the motor from moving?

My goal is to do something similar to your macro above, but rather than setting velocity, I would want to set torque and monitor position.

Any help is greatly appreciated.