Configuration Attributes: "Config" Tab Page

Save to Flash-- Pre-selects current Motion Supervisor settings for saving to flash memory. For more information on using Save to Flash, see description in the first part of this chapter.

View Sub-objects-- Shows all sub-objects for the Motion Supervisor. For more information, see Object Summary Windows.

Axis Map-- Displays the MS Axis List Configuration window. For more information, see Object List Configuration Dialog Boxes.

Motion Type-- There are ten Motion Type settings; however, only three are supported in Motion Console. All are supported by the MPI library.

• Jog -- (Unsupported)
• PT -- (Unsupported)
• PVT -- (Unsupported)
• Spline -- (Unsupported)
• B-Spline 2-- (Unsupported)
• Bessel-- (Unsupported)
• B-Spline-- (Unsupported)
• S-Curve -- Implements an S-curve velocity trajectory, using the Jerk Percent parameter to reach the target position.

• Trapezoidal -- (Default) Implements a trapezoidal velocity trajectory to reach the target position. Does not use the Jerk Percent parameter.

• Velocity -- Implements an S-curve velocity trajectory using the Jerk Percent parameter to reach the target velocity.

Attributes-- Applies special attributes to motion objects via mpiMotionModify.

• Relative-- Axes are commanded to move to a point relative to their present location (i.e., without regard to their starting points).
• Sync End-- Axes are commanded to end motion simultaneously at the same point.
• Sync Start-- Axes are commanded to start motion simultaneously from the same point.
• Stop Time--Time (in seconds) to decelerate axis to a stop.

CAUTION! Actual stopping time is limited by mass and speed! If you are moving a heavy object at high speed and command a very rapid Stop Time, your motion control or mechanical system may be unable to comply. Verify that drive and motor manufacturer's specifications meet the demands placed upon your system BEFORE assuming a stop time.

E-Stop Time-- Time to decelerate to an emergency stop. When E-Stop is activated, the State will be flagged with a Stopping Error while the axis is decellerated. An Error state is flagged when the axis comes to a complete stop. However, amp enable outputs are NOT disabled.

Note	If the axis is close to completing a move when E-Stop is activated, the axis may halt before the E-Stop Time has expired.

Normal Feedrate-- Speed scaling factor applied to movement. 0 = stopped; 1 = normal speed (unscaled); 1.5 = 150%; 2 = 200%, -1 = reversed norma speed; etc.

Delay-- Time delay (in seconds) before execution of next move command. If operating in Repeat Mode, the delay will be applied to the beginning of each move segment.

Panic Action-- Action to execute when the <F12> panic key is activated.

Note	Some panic action states (E-Stop and Abort) flag a fault condition. To reset the system after a fault, click on the Clear Fault button (MS Summary / Actions tab page).

• None-- Motion is halted at the end of the currently commanded move. (No-fault condition.)


• Stop-- Motion is halted using a Stop. (No-fault condition.)


• E-Stop-- Motion is halted using an E-Stop, and a fault condition is flagged.


• E-Stop, Abort-- Motion is halted using both an E-Stop and an Abort, and a fault condition is flagged. A fault condition is flagged.


• Abort-- Motion is halted using an Abort.

Configuration Attributes: "Actions" Tab Page

 

Repeat Mode-- [Enabled; (not enabled)] Repeats programmed motion.

Note	Each repeated motion will be delayed by the Delay amount (see description above on Delay).

Move Pos. 1-- Command each axis associated with the Motion Supervisor to Position 1.

Move to Further-- Command each axis associated with the Motion Supervisor to either Position 1 or Position 2, whichever is further away.

Move Pos. 2-- Command each axis associated with the Motion Supervisor to Position 2.

Stop -- Stops movement of objects under control of current Motion Supervisor within Stop time (seconds).

E-Stop -- Emergency stop. Halts movement of objects under control of current Motion Supervisor within E-Stop time (seconds) and leaves the axes in an Error state.

Note	E-Stop does NOT disable closed-loop control and does not disable the amp enable output(s).

Abort -- Immediately stops movement of objects under control of current Motion Supervisor, disables closed-loop control, and disables the amp enable output(s), leaving the axes in an Error state.

CAUTION! Do not use Abort when testing equipment which depends upon servos or stepper motors to secure personnel or equipment (e.g., lifting cranes, elevators, etc.). The Abort command disables servos and steppers and, in some circumstances, may present a hazard to personnel or equipment due to sudden loss of power.

Zero Position-- Sets the origin of the axis to the current actual position and the command position to 0. The algorithm for setting the origin is:

 

Status Attributes

Status fields are read-only:

State -- Current motion state. (See Motion States table below.)

Motion States

State	Description
	Idle (State parameter). Awaiting a move command.
	In motion (State parameter). Performing a move command.
	Stopping. (State parameter). Motion has been commanded to stop.
	Moving when not commanded to move. NOTE: This occurs when another application commands a move.
	Initializing.
	Unknown state.
	Fault or limit detected. (See Event Status Flags below.)

 

Error States

Event Status Flags

Error	Flag	Description
Amp[lifier] Fault		Amplifier fault.
Home Limit		Encoder home pulse exceeded or not found.
Position Error Limit		Error between command and actual position exceeds user-defined limit.
HW Neg. limit		Hardware negative limit activated.
HW Pos. limit		Hardware positive limit activated.
SW Neg. limit		Software negative limit exceeded.
SW Pos. limit		Software positive limit exceeded.
Encoder Fault		Encoder fault detected.
Motion Done		Move command completed.
At Velocity		Commanded velocity attained.