Select a Step ......................................................... REQUIREMENTS AND SAFETY Introduction Required Materials Safety Precautions Hardware Requirements and Installation FAQs for Motion Console ––––––––––––––––––––––– MOTION CONSOLE 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 – Saving to Flash Table – 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 Object – Motion Supervisor Object – Axis Object – Filter Object – Motor Object – SynqNet Object – SqNode Object – CAN Network Object – CAN Node Object – I/O Object Command Line Options Reading Versions with Motion Console Troubleshooting

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) The home position. Used for non-relative moves.

Position 2 – (counts) The target position. 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 encoder counts / second).

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

Deceleration – Command deceleration during move (in encoder 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.

Save to Flash – Pre-selects the current settings and saves them to flash memory. For more information, please see the Save to Flash section.

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. See MEIAxisConfig.

Pos. Tol., Fine – Fine Positional Tolerance. Maximum allowable positional deviation (error) from target position to be considered done. See MPIAxisInPosition.

Pos. Tol., Coarse – Coarse Positional Tolerance. Arbitrarily set deviation (error) from target position.
NOTE: The Pos. Tol., Coarse parameter is useful for triggering auxiliary 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.) See MPIAxisInPosition.

Velocity Tol. – Velocity Tolerance. Maximum allowable velocity deviation (error) from target velocity to be considered "at velocity." See MPIAxisInPosition.

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). See MPIAxisInPosition.

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

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

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 MPIAxisInPosition.

E-Stop Modify Decel – See MPIAxisEstopModify.

E-Stop Modify Decel Jerk – See MPIAxisEstopModify.

E-Stop Modify Jerk % – See MPIAxisEstopModify.

Status Parameters

State – n/a

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.

In Coarse Position –
Yes - An In Coarse Position event was generated from an Axis object. See MEIEventType.

In Fine Position –
Yes - An In Fine Position event was generated from an Axis object. See MEIEventType.

At Target –
Yes - See MPIStatus and MEIEventType.

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