AKD PDMM User Guide | 11.2.4.3 Different methods of motion table motion tasking
Assume that a motion profile table contains 1,000 data points. In this case point 1000/2+1 =
501 must contain the value of 2
31
= 2,147,483,648.
5. A motion profile table must also be symmetric during the acceleration and the deceleration proc-
ess when a standard customer table motion task must be triggered.
To illustrate profile symmetry, the derivative of the motion profile table (velocity profile) is shown below;
note the symmetry according to the velocity profile.
The left half of the curve describes the shape of the acceleration process of the motion task. The right half
of the curve describes the shape of the deceleration process of the motion task. A symmetric motion pro-
file table means that Area 1, Area 2, Area 3 and Area 4 have the same size.
11.2.4.3 Different methods of motion table motion tasking
General motion profile table explanations
The algorithm for handling the motion profile motion task are the same for both methods, the standard cus-
tomer table motion task and the 1:1 customer table motion task. The diagram below illustrates a basic
table profile algorithm. The figure shows a standard customer table motion task.
The drive calculates the acceleration time and deceleration time out of the given motion task parameters
(see MT Parameters and Commands) with the assumption of a trapezoidal acceleration setting (MT.ACC
and MT.DEC). The formulas are:
11.2.4.4 Standard customer table motion task
The standard motion profile table motion task is displayed in the following figure:
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