CONTENTS:
Object-oriented Motion Control
Motion Console Objects
Motion Console User Interface
Main Motion Console Frame
Adding a New Controller
Object Summary Windows
Object Explorer
Object List Configuration Dialog Boxes
Configuring New Systems with Motion Console
Getting Started with Motion Console
Saving Parameter Settings
Associating Objects with Motion Console
Configuring a Motion Supervisor
Mapping One Object to Another
Removing (Deleting) a Mapped Object
Safety Reminders
Motion Console Objects
Controller Objects
Motion Supervisor Object
Axis Objects
Filter Objects
Motor Objects
SERCOS Ring Objects
SERCOS Node Objects
Idn Objects
CHAPTER 2
Motion Console
Axis Objects

Axis objects are classically associated with a single vector of motion, particularly as it relates to a specific motor. In Motion Console, Axis objects bridge the control link between Filters and Motion Supervisors.

Object Explorer panel

Axis Summary Window

Configuration Attributes: "Motion" Tab Page

The following attributes appear on the Motion configuration tab page:

  • Position 1-- Target position when user clicks on
  • Position 2-- Target position when user clicks on

Note

Either Position 1 or 2 can be the target position at the end of the move. Position 1 is where the axis will be commanded to move when the user clicks on .

 

  • Velocity-- Command velocity during move (in encoder counts / second).
  • Acceleration-- Command acceleration during move (in encoder counts / sec2).
  • Deceleration-- Command deceleration during move (in encoder counts / sec2).
  • Jerk Percent-- Percentage of acceleration / deceleration curve utilized for transitioning between Acceleration, Velocity, and Deceleration components. In the figure below, the effects of various Jerk Percent values are illustrated for a simple triangular profile move.
Changes in Jerk Percent parameter change the acceleration-deceleration curve characteristics. The graphs below display commanded and actual velocities
Configuration Attributes: "Config" Tab Page
 

The following attributes appear on the General Config tab page:

  • Save to Flash-- Pre-selects current Axis settings for saving to flash memory. For more information on using Save to Flash, see the description in the first part of this chapter.
  • View Sub-objects-- Shows all sub-objects for Axis object. For more information, see Object Summary Windows.
  • Filter Map-- Displays the Axis Filter Map Configuration window. For more information, see Object List Configuration Dialog Boxes.
  • Pos. Tol., Fine-- Fine Positional Tolerance. Maximum allowable positional deviation (error) from target position to be considered done.
  • Pos. Tol., Coarse-- Coarse Positional Tolerance. Arbitrarily set deviation (error) from target position.

Note

The Pos. Tol., Coarse parameter is useful for triggering auxillary events just prior to attaining target position. (E.g., on an automated milling machine, Pos. Tol., Coarse can be used to trigger the flow of cutting fluid when the tool is close to the object being milled.)
  • Velocity Tol.-- Velocity Tolerance. Maximum allowable velocity deviation (error) from target velocity to be considered "at velocity."
  • Settling Time-- Minimum time interval for both the Fine Pos[itional] Tol[erance] and Velocity Tol[erance] attributes to qualify as "done."

Note

As they approach their target positions / velocities, all axes will spend some interval of time settling. Only when an axis attains both its Fine Positional Tolerance and Velocity Tolerance within the Settling Time is that axis regarded as truly "done"; this triggers a Motion Done event (See Motion Supervisor objects).
  • Settle on Stop -- When checked, the settling criteria is applied to moves halted by a stop.
  • Settle on E-Stop -- When checked, the settling criteria is applied to moves halted by an E-Stop.
Status Parameters
 
  • Actual Position -- Real, current position of axis. Where the axis actually is.
  • Command Position -- Commanded axis position. Where the axis should be.
  • Position Error -- Difference between Command and Actual positions.
  • Velocity -- Command velocity.
  • Acceleration -- Command acceleration.
  • State -- Current state of the axis.

 

Motion States and Descriptions

Motion State

Description

 

Moving toward target position 1.

 

Moving toward target position 2.

 

Moving when not commanded to move. NOTE: this occurs when another application commands a move while Motion Console is displaying the MS.

 

Error state

 

Idle