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

Filter Objects

Filters provide linkage between motors and axes: motors are mapped to filters, and filters are mapped to axes. (It is not possible to map a motor directly to an axis without a filter.) Depending upon the algorithm employed, filters use such coefficients as gains, feed forward and torque limits.

Filter Configuration Attributes

The Filter Summary window lists Filter attributes in two tab pages: "Config" and "Coeffs."

Configuration Attributes: "Config" Tab Page

"Config" Filter attributes include configurations for standard and custom filter features.

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 Filter object. For more information, see Object Summary Windows.

Motor Map – Displays the Filter Motor Map Configuration window. For more information, see Object List Configuration Dialog Boxes.

Algorithm – Software filter algorithm. There are five types:

Gain Switch Type – Used to switch filter parameters from the gain tables.

Gain Delay – Requires custom firmware. It specifies the time (seconds) between the controller's calculated gain switch and the applied gain switch.

Gain Window – Requires custom firmware. It specifies the position window (counts) to apply the gain switch.

P/PI Switch Type – Requires custom firmware.

P/PI Mode – Requires custom firmware.

P/PI Delay – Requires custom firmware.

P/PI Window – Requires custom firmware.

Reset Integrator – Requires custom firmware.

Reset Int. Delay – Requires custom firmware.

Configuration Attributes: "Coeffs" Tab Page

The display of filter coefficients changes according to the Algorithm chosen (selectable from the Filter / General panel). The algorithm combo box on the Coeffs tab merely changes how the coefficients are displayed. It changes the row headers and displays N/A for coefficients that are not used for the selected algorithm. If the algorithm of a filter object does not match the algorithm being displayed, then N/A is displayed for all coefficients.

Each set of coefficients is described in separate tables below.

PID Coefficients

PID coefficients are defined in the table below. See MEIFilterGainPID. See the Scaling PID Tuning Parameters for Different Controller Sample Rates application note.

PIV Coefficients

PIV coefficients are described in the table below. See MEIFilterGainPIV.

None Coefficients

Selecting the None option means that no filter parameters will be used. This is common for stepper motors.

PIV1 Coefficients

PIV1 coefficients are defined in the table below.

User Coefficients

These coefficients are used with a custom algorithm developed using the Firmware Development Kit.

All Algorithm Coefficients

Displays all coefficients for the different filter objects. Because different filter objects may use different algorithms, Motion Console must display generic labels rather than algorithm specific labels.