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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 – (counts) Position location#1. Used for non-relative moves.

Position 2 – (counts) Position location#2. Used for non-relative moves.
NOTE: Either Position 1 or 2 can be the target position at the end of the move.

Relative Distance – Position Offset (counts). Used for relative moves.

Velocity – Command velocity during move (in feedback counts / second).

Acceleration – Command acceleration during move (in feedback counts / sec2).

Deceleration – Command deceleration during move (in feedback counts / sec2).

Jerk Percent – (0 - 100%) 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.

AccelJerk – Acceleration Jerk. User for move types, S-Curve Jerk and Velocity Jerk.

DecelJerk – Deceleration Jerk. User for move types, S-Curve Jerk and Velocity Jerk.

 

Configuration Attributes: "Config" Tab Page

The following attributes appear on the General Config tab page:

User Label – User-defined label for the object.

View Sub-objects – Shows all sub-objects for Axis object. For more information, see Object Summary Windows.

Settling Distance – Positional Tolerance to target position. Maximum allowable positional deviation (error) from target position for the move to be considered done. See MPIAxisSettleParams.

The Near Target Dist. – Parameter is useful for triggering events just prior to reaching the target position. (e.g. On an automated milling machine, Near Target Dist can be used to trigger the flow of cutting fluid when the tool is close to the object being milled.) See MPIAxisSettleParams.

Settling Time – Minimum time interval for both the Settling Distance Tolerance and Velocity Tolerance 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). See MPIAxisSettleParams.

Settle on Stop – When checked, the settling criteria is applied to moves halted by a stop. See MPIAxisSettleParams.

Settle on EStop – When checked, the settling criteria is applied to moves halted by an E-Stop. See MPIAxisSettleParams.

Settle on EStop C=A – When checked, the settling criteria is applied to moves halted by an E-Stop. During an Estop, the command position is set equal to the actual position from the previous servo sample. This mode is not recommended. See MPIAxisSettleParams.

E-Stop Modify Decel – Deceleration rate for the E-Stop move modify to zero velocity. See MPIAxisEstopModify.

E-Stop Modify Decel Jerk – Deceleration Jerk rate for the E-Stop move modify to zero velocity (requires custom S-Curve Jerk firmware). See MPIAxisEstopModify.

E-Stop Modify Jerk % – Deceleration Jerk % rate for the E-Stop move modify to zero velocity. See MPIAxisEstopModify.

 

User Units Parameters

 

User Units provides a place to store scale factors and labels into the controller.  At present, the user units do not apply the scale factors to the position, velocity, acclereration, and jerk values.

Position Unit Label – Name of the user unit conversion for position. See MPIAxisUserUnit.

Position Scale – Value to convert position values from raw counts to scaled values.  See <link to http://wipsupport.motioneng.com/Software-MPI/docs/Axis/Method/usrunit.htm >.

Velocity Unit Label – Name of the user unit conversion for velocity. See MPIAxisUserUnit.

Velocity Scale – Value to convert velocity values from raw counts to scaled values. See MPIAxisUserUnit.

Acceleration Unit Label – Name of the user unit conversion for acceleration. See MPIAxisUserUnit.

Acceleration Scale – Value to convert acceleration values from raw counts to scaled values. See MPIAxisUserUnit.

Jerk Unit Label – Name of the user unit conversion for jerk. See MPIAxisUserUnit.

Jerk Scale – Value to convert jerk values from raw counts to scaled values. See MPIAxisUserUnit.

 

Status Parameters

State –Present condition of the axis.

Actual Position – Feedback position for the 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.

Near Target
Yes A Near Target event was generated from an Axis object. See MPIEventType.

Settled Event
Yes – A Settled Event was generated from an Axis object. See MPIEventType.

At Target
Yes – The command position reached the target position. See MPIStatus.

 

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

 

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