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File Description 
Valid for KVB software 2.20 SP2 Build 2.22.353.0. This HMI program is set up to run motion tasks in the AKD drive. The operator can select from 5 motion tasks saved in the drive and run the selected task. The distance and speed of one other task can be edited by the operator. This program is also set up to run a manual jog move in velocity mode. For more information, see the application note included in this package.
Language 
English
Release 
2.20
Release Date 
Monday, October 9, 2017

Question:

Is there a way to do S Curve Profiling over Ethernet IP with the AKD ( i.e. from an Allen Bradley PLC ) based on there is a S-Curve option in the Motion Task tables. Is there a way to do this over EIP ( send the data table values, etc. )?

How can we take advantage of that feature using EIP as a fieldbus?

Answer:

The short answer is this cannot be done using the motion tasking drive over Ethernet IP or Modbus TCP for that matter.

The AKD_Move add-on-instruction ( AOI ) has no built-in S-Curve feature or capability.

 

This application note goes into detail both in description and graphically the use of blending in a motion tasking drive ( AKD-P ).

 

 



Understanding the MT.LOAD and MT.SET command parameters

I see this come up a lot and often there is confusion of how these keywords work and what they do.

A motion task consists of the following parameters. See Workbench Help for more details and descriptions of each parameter.

MT.NUM

MT.P

MT.V

MT.ACC

MT.DEC

MT.TNUM

MT.MTNEXT

MT.TNEXT

MT.CNTL

This article assumes the AKD drive is in position mode using Motion Tasking for indexing.

Question:

How do I detect a jam or create a fault in the event the drive’s current ( output torque ) exceeds a set value in the AKD Motion Tasking drive?

Answer:

There is no convenient way in the Motion Tasking drive to detect a current level and generate a fault.

Overview of changing Motion Tasks over Modbus and typical parameters of interest for basic operation of the drive.

This application note applies to the AKD Motion Tasking drive in the case where the motor to load is direct drive and the position of the load is always between 0 to 360 degrees. This is typical in rotary dials/indexing tables. Sometimes the objective is to have the zero position to be set in a position different from the zero angle of the motor/feedback. This application describes the steps taken to define a new "zero" position.

Application Note for Setting Up or Demoing an AKD-P Motion Tasking drive with mark registration moves.