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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.

When using the AKD with EtherCAT in Position mode, are the AKD's Acceleration, Deceleration, and Velocity limits active?

There are three parameters in the S300, S600, and S700 drives that define the acceleration limits, or maximum acceleration ramp and deceleration ramp.  ACC and DEC are the acceleration and deceleration limits in the velocity loop.  They are labeled in DriveGUI software as "Acc. Ramp" and "Dec. Ramp".  In the Drive.exe software for the S600, the labels are "Setp. Ramp +" and "Setp. Ramp -".  When the drive is in velocity mode, these are the only acceleration limits that apply.  They are user defined and specific to each individual application.

ASCII - Command ACC    
Syntax Transmit ACC [Data]    
Syntax Receive ACC <Data>