Kollmorgen Support Network

To better serve our Kollmorgen users with questions too complex to be addressed in this space, we made the painful decision to close this Community forum.

Please submit your question using the contact us form to reach our application engineering team.

For the immediate future, you can still access and read past posts.

Thank you for understanding and for participating in the community over the years.

Upload or Change Custom Profile Table over Telnet | 30 Oct 2017 | |

Upload or Change Custom Profile Table over Telnet

Hello,

i am using AKD Servo drive. I need to automaize the uploading custom Profile table via Telnet. Is there any command to upload a CSV. file to Kollmorgen? Could you give my some advise in this regard please?

Thank you in advance

Comments & Answers

toddevans01 | Mon, 10/30/2017 - 15:56

I know of no Telnet commands to load a CSV file.
You will need to use Workbench.
Workbench Help states:
Setting up a motion profile motion task

It is recommended that motion tasks be set up via the WorkBench software. The S-curve profile or the OneToOne profile may be selected via a drop-down menu.

It is also possible to select to adjust a motion task on a command line level with the help of the MT commands. There are 2 commands which are mentioned within this chapter:
•Trapezoidal, OneToOne, or Profile Table moves are selected using bits 10 and 11 of the MT.CNTL command.
•The MT.TNUM selects which of the 8 tables (0 to 7) to use for the profile. The parameter MT.TNUM will be ignored in the case that a trapezoidal motion task has been selected.

We have an app note on the KDN for creating a motion task profile table.
https://kdn.kollmorgen.com/content/creating-motion-task-s-curve-profile…

Other than that the only other documentation is in Workbench Help.

Stewart | Mon, 10/30/2017 - 17:14

Hello,
thank you for your answer. We have also found some instructions at the page 922 of the AKD user Guide(25.29.17 MT.TNVSAVE) which helped us to write our code.
We already achieved to load csv files via telnet, here is the routine that we wrote for python 3.5:
#delete old profile tables
tn.write(("mt.tdwnlds 1\r\n").encode('ascii'))
time.sleep(0.1)
tn.write(("mt.tdwnlds 0\r\n").encode('ascii'))
#load new profile tables
vector = np.loadtxt(filename)
_tn.write(("mt.t%dname %s\r\n" % (nb, name)).encode('ascii'))
time.sleep(0.01)
blockSize = 12
i = 0
while i < len(vector)-1:
line = 'mt.tdwnldv '
j = 0
while j < blockSize and i < len(vector)-1:
line += (str(int(vector[i]))+',')
j += 1
i += 1
line += (str(int(vector[i]))+'\r\n')
i += 1
tn.write(line.encode('ascii'))
# save profile tables
tn.write(("mt.tdwnlds 2\r\n").encode('ascii'))

Yours,
Stewart

About this Question

Stewart
Taxonomy: