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Motor Objects Motor objects are mapped to Filter objects. Because motor type determines many other attributes found in Motion Console, it is essential that attributes in the Motor Summary window are the first ones configured. Motor Summary Window The four configuration pages are:
There are also two status pages:
Configuration Attributes: "Config" Tab Page
User Label – User-defined label for the object. View Sub-objects – Shows all sub-objects for Motor object. For more information, see Object Summary Windows. Amp Enable – When checked, the amp is enabled. When unchecked, the amp is disabled. Type – See MPIMotorType.
Amp Disable Action – See MPIMotorDisableAction.
Primary Feedback Phase – Determines
which direction of motor movement results in incrementing or decrementing
encoder counts. It is very important to use the correct encoder phasing
so that positive voltage will result in increasing counts and vice-versa.
Primary Feedback Filter – Enables/Disables the use of filters on the primary encoder signal.v See MPIMotorFeedback.
Primary Feedback Type –
Secondary Feedback Phase – Determines
which direction of motor movement results in incrementing or decrementing
encoder counts. It is very important to use the correct encoder phasing
so that positive voltage will result in increasing counts and vice-versa.
Secondary Feedback Filter – Enables/Disables the use of filters on the secondary encoder signal. See MPIMotorFeedback.
Secondary Feedback Type –
Amp Disable Delay – Delay (in seconds) before disabling amplifier on events that cause an Abort. Brake Mode (None or Delay) –
Brake Apply Delay – Delay (in seconds) between enabling the brake and disabling the motor. For more information, please see the Motor Brake (brake enable/disable delay) page. See MPIMotorBrake. Brake Release Delay – Delay (in seconds) between releasing the brake and enabling the motor. For more information, please see the Motor Brake (brake enable/disable delay) page. See MPIMotorBrake. Fault Config – A mask of motor fault bits. The masked motor fault bits will be monitored by the controller's motor object. If any masked motor fault bit is active (TRUE), the motor's dedicated amp fault input (MPIMotorDedicatedInAMP_FAULT) is set active (TRUE). The support for motor fault bits is node/drive specific. During SynqNet network initialization, the SqNodeLib automatically configures the faultMask based on the node type. See the node/drive manufacturer's documentation for details. See MPIMotorFaultConfig. User Fault Action – The action taken in the event of a User Fault. The criteria for a User Fault can be set on the SqNode Config Summary page. For more information, see MPIMotorConfig and MPISqNodeConfigUserFault. Step Pulse Width – Value is determined by pulse drive specifications. Step Loopback – Enable for open loop, Disable (default) for encoder feedback. Pulse A Type – Configure for STEP, DIR, CW, CCW, QUADA, or QUADB. Pulse A Invert – Enable or Disable. Pulse B Type – Configure for STEP, DIR, CW, CCW, QUADA, or QUADB. Pulse B Invert – Enable or Disable.
Configuration Attributes: "Events" Tab Page The generation of Motor events is based upon the Motor configuration attributes. Motor events are state changes in the motor object that can be programmed to trigger a particular action. The status of motor events can be monitored in the Event Status page of the Motor Summary window. Motor events are passed up to the Motion Supervisor object (via Filter and Axis objects) and can be monitored as event status flags on the Status tab page on the Motion Supervisor Summary window. If action is taken when the event is triggered, then the event status flag is "sticky," i.e., stays on until explicitly cleared by the user. This allows the user to determine which motor(s) caused an error. Events have some or all of the below configurable attributes.
Triggers (Trig.) can be a state change (e.g., Amp Fault Trigger or Hardware Negative Limit Trigger) or positional information (e.g., Error Limit Trigger). For check boxes, enable (default) for active high logic, disable for active low logic. Actions (Act.) are taken when an event is triggered (see "Triggers" section above). In all cases, the following actions are available:
Duration (Dur.) - The minimum amount
of time, in seconds, that the Trigger condition must exist for the event
to trigger. Direction (Dir.) - When enabled, it characterizes the Hardware Negative or Positive Limit Trigger directionally, only when recovering from the corresponding event. When not enabled, the event will always be triggered when the input condition is active. The default and recommended setting is enabled.
Configuration Attributes: "Demand" Tab Page
Demand Mode – See MPIMotorDemandMode.
Primary Offset – Adds an offset value to the Motor's primary demand output signal. Value is dependent on the demand mode. Valid for Analog, Dual DAC, and Torque demand modes. Auxilary Offset – Adds an offset value to the Motor's primary demand output signal. Valid for Dual DAC mode only. Units are volts, range is +/- 10 volts. Analog and Dual DAC – See mpiMotorDemandModeAnalogOffsetSet. Torque – See mpiMotorDemandModeTorqueOffsetSet. Velocity – See mpiMotorDemandModeVelocityOffsetSet.
Configuration Attributes: "Info" Tab Page
Node Type – Identifies the type of node. See MPIMotorInfoNodeType. Network Number – An index to the SynqNet network (0, 1, 2 etc.). Node Number – An index to the node (0, 1, 2, etc.). Motor Index – An index to the motor (0, 1, 2, etc.). Drive Index – An index to the drive interface (0, 1, 2, etc.). Capture Count – The number of captures for the motor. Encoder Count – The number of encoders for the motor.
Configuration Attributes: "SinCom" Tab Page
Mode –
Length – Number of encoder counts per revolution for a rotary motor and the number of counts of one electrical cycle length for a linear motor. Scale – (Type float) Total number of commutation points per motor revolution, divided by the total number of encoder counts per revolution (i.e., Length). Output Level – Sets the DAC level during open-loop commutation. Output level is in DAC units (i.e., 32,767 = 10V). Offset – Expressed in units of commutation table points (i.e., 1024). 1024 table points equal 360 electrical degrees. Phase Delta – Usually set to 120
degrees for a three-phase, brushless motor with 120 degrees of phase separation.
[120 degrees is represented by 341 commutation table points (i.e., 1024/3).]
Switchable options include: 0 degrees; 90 degrees; 120 degrees.
Status Attributes: "Status" Tab Page This page displays the status of motor events, as well as several general stats flags. DAC output level is also displayed. For all event status attributes, see the corresponding EventType.
Fault Bit, Amp – Status of the Amp Motor Fault bit. See MPIMotorFaultMaskAMP. Fault Bit, Drive – Status of the Motor Fault bit. See MPIMotorFaultMaskDRIVE.
Fault Bit, Watchdog – Status of the Watchdog Motor Fault bit. See MPIMotorFaultMaskWATCHDOG.
Fault Bit, Checksum – Status of the Checksum Motor Fault bit. See MPIMotorFaultMaskCHECKSUM.
Fault Bit, Not Ready for Remote Control– Status of the Amp Not Ready for Remote Control bit. See MPIMotorFaultBitNOT_READY_FOR_REMOTE_CONTROL.
Fault Bit, Drive Not Ready – Status of the Drive Not Ready Motor Fault bit. See MPIMotorFaultBitDRIVE_NOT_READY.
Fault Bit, Primary Feedback – Status of the Primary Feedback Motor Fault bit. See MPIMotorFaultMaskFEEDBACK.
Fault Bit, Secondary Feedback – Status of the Secondary Feedback Motor Fault bit. See MPIMotorFaultMaskFEEDBACK.
Amp Fault – Amp Fault Event status. See MPIEventTypeAMP_FAULT. Amp Warning – Status of the Amp Motor Warning bit. See MPIMotorFaultMaskWARNING. Feedback Fault – Feedback Fault event status. See MPIEventTypeFEEDBACK_FAULT. Position Err Limit – Position Error Limit Event status. See MPIEventTypeLIMIT_ERROR. Torque Limit –Maximum Torque Limit Event status. See MPIEventTypeLIMIT_TORQUE . HW Neg. Limit – Hardware Negative Limit Event status. See MPIEventTypeLIMIT_HW_NEG. HW Pos. Limit – Hardware Positive Limit Event status. See MPIEventTypeLIMIT_HW_POS. SW Neg. Limit – Software Negative Limit Event status. See MPIEventTypeLIMIT_SW_NEG. SW Pos. Limit – Software Positive Limit Event status. See MPIEventTypeLIMIT_SW_POS. Broken Wire – Broken wire on the primary encoder input signals. See MPIStatusMaskBROKEN_WIRE. Illegal State – Illegal encoder logic state on the primary encoder input signals. See MPIStatusMaskILLEGAL_STATE. Broken Wire 2 – Broken wire on the secondary encoder input signals. See MPIStatusMaskBROKEN_WIRE_SECONDARY.
Illegal State 2 – Illegal encoder logic state on the secondary encoder inputs. See MPIStatusMaskILLEGAL_STATE_SECONDARY.
Stepper Pulse Lock Lost – Indicates that the pulse engine has lost track of controller cycle timing. Stepper Pulse Bad – Indicates that a pulse was lost to the drive because of overlapping pulse widths. Primary Feedback – Feedback position of the primary encoder. See mpiMotorFeedback. Secondary Feedback – Feedback position of the secondary encoder. See mpiMotorFeedback.
Status Attributes: "I/O" Tab Page This page displays Motor I/O status. For Dedicated I/O status.
Amp Enable – Amp Enable output status. Amp Enable Bit – Status of the Amp Enable dedicated motor output. See MPIMotorDedicatedOutAMP_ENABLE. Brake Release – Status of the Brake Release dedicated motor output. See MPIMotorDedicatedOutBRAKE_RELEASE. Amp Fault – Status of the Amp Fault dedicated motor input. See MPIMotorDedicatedInAMP_FAULT. Brake Applied – Status of the Brake Applied dedicated motor input. See MPIMotorDedicatedInBRAKE_APPLIED. Home Sensor – Status of the HOME dedicated motor input. Pos HW Limit – Status of the Positive Hardware Limit dedicated motor input. See MPIMotorDedicatedInLIMIT_HW_POS. Neg HW Limit – Status of the Negative Hardware Limit dedicated motor input. See MPIMotorDedicatedInLIMIT_HW_NEG. Index, Primary – Status of the Primary Index dedicated motor input. See MPIMotorDedicatedInINDEX_PRIMARY. Index, Secondary – Status of the Secondary Index dedicated motor input. See MPIMotorDedicatedInINDEX_SECONDARY. Feedback Fault – Status of the Feedback Fault dedicated motor input. See MPIMotorDedicatedInFEEDBACK_FAULT. Drive Captured – Status of the Captured dedicated motor input. See MPIMotorDedicatedInCAPTURED. Hall A – Status of the Hall A dedicated motor input. See MPIMotorDedicatedInHALL_A. Hall B – Status of the Hall B dedicated motor input. See MPIMotorDedicatedInHALL_B. Hall C – Status of the Hall C dedicated motor input. See MPIMotorDedicatedInHALL_C. Amp Active – Status of the Amp Active dedicated motor input. See MPIMotorDedicatedInAMP_ACTIVE. Drive Warning – Status of the Warning dedicated motor input. See MPIMotorDedicatedInWARNING. Drive Status 9 – Status of bit 9 in the SynqNet drive specific status register. See MPIMotorDedicatedInDRIVE_STATUS_9. Drive Status 10 – Status of bit 10 in the SynqNet drive specific status register. See MPIMotorDedicatedInDRIVE_STATUS_10. Primary Feedback Fault – Status of the Primary Feedback Fault. See MPIMotorDedicatedInFEEDBACK_FAULT_PRIMARY. Secondary Feedback Fault – Status of the Secondary Feedback Fault. See MPIMotorDedicatedInFEEDBACK_FAULT_SECONDARY. Primary Demand Output – Output level for the primary analog output (RMBs) or torque (Drives in torque mode only). See mpiMotorDemandModeAnalogOutput or mpiMotorDemandModeTorqueOutput . Auxiliary Analog Demand Output – Output level for the secondary analog output (RMBs only). See mpiMotorDemandModeDualAnalogOutput . Velocity Demand Output – Output level for the velocity demand output (Drives in velocity mode only). See mpiMotorDemandModeVelocityOutput . Velocity Torque Demand Output – Output level for the torque demand output (Drives in velocity mode only). See mpiMotorDemandModeVelocityOutput .
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