Kollmorgen AKD PDMM series, User Manual

Page: 83 / 513

AKD PDMM User Guide | During a change on the fly condition
acceleration time) and deceleration (internally converted to deceleration time). In this case the AKD low-
ers the target velocity automatically to VTargetLimited and accelerates within the selected acceleration
time to the limited target velocity and decelerates afterwards with the selected deceleration time to veloc-
ity 0.
The shape of the velocity profile will look like the following pictures with the assumption, that MT.ACC
and MT.DEC have different values.
During a change on the fly condition
There are 2 different kinds of considerations within the AKD firmware for a change-on-the-fly condition.
l
A change on the fly in the same direction (the target velocity of the previous and the following motion
task have the same algebraic sign).
l
A change on the fly in the opposite direction (the target velocity of the previous and the following
motion task have a different algebraic sign).
Since the shape of a customer table is unknown to the AKD, the Drive verifies in advance the validity of
the motion task with the assumption of a symmetric motion profile table.
Movement to the same direction
The following figure displays a movement in the same direction, in this case in a positive direction.
In case that the distance to the target position of the motion task 2 is smaller than distmin, the AKD gen-
erates a profile as shown in the next figure.
83 Kollmorgen™ | December 2012