The Environment Variable Mt (Motortype) - Addi-Data APCI-8001 Commissioning Manual

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3.12.1 The environment variable MT (MotorType)

This environment variable can adapt the control system to different axis systems. The axis allocation occurs
by attaching the axis index to MT (z.B. MT0). The different configurations possible are listed in the table
below. To select an option, enter the value of the corresponding system variable MT.
Important note: The following system variables are only needed in special cases (e.g. where an SSI
absolute value encoder is used). For standard applications with stepper motor systems, servo systems and
incremental encoder systems, these variables need not, and in fact must not, be set.
Table: Motor types
Value Name
2 SSI
3 INC PWM
4 STEPPER SSI
5 ANALOG PWM
6 STEPPER NDX
7 ANALOG /
ANALOG
8 Encoder emulation
9 Piezo motor
10 PSM
11 ENDAT2.1
12 INC_PULSE
13 VIRTUAL
14 GEOADD
15 UPDOWNSIGNALS Option for presenting encoder signals of an axis channels as UP or
16 ENDAT 2.2
19 ANA_SIGN
20 CI / ANALOG
21 CD / ANALOG
22 STEPPER /
ENDAT 2.2
Description
Axis with actual value acquisition of SSI encoder SSI encoder and
analog manipulated variable output.
Axis with PWM manipulated value signal (RS 422) to the pulse output
and actual value acquisition through incremental encoder. The
directional signal is transmitted to the outputs Sign.
Axis with actual value acquisition of SSI encoder and manipulated
variable output of stepper motors.
Axis with PWM manipulated value signal (RS 422) to pulse output
and actual value acquisition through analog input. The directional
signal is transmitted to the outputs Sign.
This axis type enables to transmit the directional signal of the stepper
motor to a digital output (24V). The pins NDX/Sign are inputs and can
be used for the evaluation of a zero track (index).
Axis with analog manipulated variable output and actual value
acquisition through analog input.
With this axis type, an incremental signal is output as manipulated
value (Encoder simulation). The axis must also be defined in mcfg as
stepper motor axis.
This motor type is optimised for driving Piezo motors of the Nano-
Motion Company.
Axis with digital performance final level PSM-1150 over PSM bus.
Axis with ENDAT encoder (serial data interface) and with incremental
actual value acquisition and analog manipulated variable output.
Servo axis with pulse direction interface and incremental encoder
actual value acquisition (controlled stepper motor)
Virtual axes: Virtual axes cannot be used for axes control, but they
can be used for profile generator calculation.
Axis type for the graphical view of trackdata of virtual axes.
DOWN counting signals.
Axis with ENDAT encoder (serial data interface) without incremental
actual value acquisition and analog manipulated variable output.
Axis with analog manipulated variable output and actual value
acquisition through incremental encoder. The analog output signal is
always positive; the directional information is output through the
digital output.
Axis with analog manipulated variable output and actual value
acquisition through Common Integer variable (CI).
Axis with analog manipulated variable output and actual value
acquisition through Common Double variable (CD).
Axis with step/direction output and ENDAT 2.2 encoder verification
CM / C M
OMMISSIONING ANUAL