Kollmorgen AKD PDMM series, User Manual

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AKD PDMM User Guide | Movement in different directions
Movement in different directions
The switch on the fly from a positive velocity to a negative velocity is described in the next figure.
It is not possible to pre-calculate exactly the area, which is marked with solid lines of the following motion
task since the shape of the motion profile table is unknown to the drive. This means that it is not possible
to identify the movement in positive and negative direction during a change on the fly from v1 to v2. A crite-
rion that a change on the fly will be executed by the drive is, if the total movement in negative direction of
the following MT is larger than the area, which is marked with dashed lines. In this case it is ensured, that
there will be definitely enough total movement of the MT in negative direction, because the motor moves
during the acceleration from v1 to v2 also a bit in positive direction. The magnitude of v2 is in this case the
‘target velocity of MT1’ + ‘target velocity of MT2.'
The drive behaves as follows in case that the hatched area is smaller than the distance to travel
negative direction:
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