Mapping
One Object to Another
To
map Axis 1 to MS 0, use the cursor to select the
Axis 1 object, then drag it into MS 0.
A
dialog box will be displayed to confirm the object mapping:
To
confirm the object mapping, click on the Yes button. The
Object Explorer will now show Axis 1 mapped to Motion
Supervisor 0:
To
map several objects to their "default" sub-object, i.e.,
the one with the same number, use the "Sub-Object Map"
button on the Summary window. (For Motion Supervisors, this button
is labeled "Axis Map.") If the entire row is selected
and the button is clicked, then an Object List Configuration Dialog
Box will be opened to map sub-objects to each object. If the <Shift>
key is held down when the button is clicked, then each object
will be mapped to its default sub-object.
Mapping
Filters, and Motors
Each
Axis has at least one Motor and Filter object associated with
it. Mapping of these objects is performed exactly as demonstrated
above with Axis objects.
Before
mapping these objects, it will help to answer the following questions:
- What
types of motors are required by your system? Servo or stepper?
If servo-type, what phase? What are the speed and travel constraints
of each axis? How does this affect the torque capabilities of
your selected motors? What duty cycle is expected of your motors?
- Is
your system closed-loop or open-loop? If closed-loop, how many
encoders? What levels of resolution and repeatability are required?
- Which
motion path algorithm will best answer your needs (PID, PVT,
PD, etc.)? How will you tune and adjust your system?
Based
upon the mechanical requirements and overall architecture of your
system, you should proceed to mapping objects with the simplest
configuration possible. Motor objects correlate to specific pieces
of hardware having connection and power constraints. These can
be determined by referring to the XMP
Hardware section and the manufacturer's specifications.