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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:

  • Config– General motor, stepper, and encoder configuration table.
  • Events– Dedicated I/O and encoder event configuration table.
  • I/O– Transceiver and User I/O configuration table.
  • Info– Resource information about the motor. Data is read-only.
  • SinCom– Sinusoidal Commutation configuration table.

There are also two status pages:

  • Status– Fault and Limit event status display.
  • I/O– Dedicated I/O, Tranceiver I/O and User I/O status display.

 

Configuration Attributes: "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 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.

  • Servo – Configure a servo-type motor (including DC brush/brushless and linears) for ± 10V servo output.

  • Stepper – Configure for step motor operation (step/direction, or clockwise/counterclockwise). For stepper motors, see Stepper Motor Configuration in Motion Console.

Amp Disable Action – See MEIMotorDisableAction.

  • None – No action.
  • Cmd = Act – Action is taken when amp is enabled.

Primary Encoder 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.
NOTE: phasing can also be reversed by reconfiguring the A+/- and B+/- encoder wires, e.g., swapping the A+ and A- wires.

  • (not reversed) – Encoder phasing is passed to the controller directly, as wired.
  • Reversed – Inverts direction of actual position traveled for given encoder feedback.

Primary Encoder Filter – Enables/Disables the use of filters on the primary encoder signal.v See MEIMotorEncoder.

  • (not disabled) – Enables filters on the primary encoder signal.
  • Disabled – Filters are NOT enabled on the primary encoder signal.

Primary Encoder Type –

  • Quad A_B – Standard incremental-type quadrature encoders. No absolute position information is stored.

  • Drive – Reads feedback from SynqNet node to drive memory interface. Either incremental or absolute position information, depending on the SynqNet drive implementation.

  • SSI – Synchronous Serial Interface (absolute position serial encoder interface). Requires SynqNet node hardware support and FPGA support. Please contact MEI for details.

Secondary Encoder 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.
NOTE: phasing can also be reversed by reconfiguring the A+/- and B+/- encoder wires, e.g., swapping the A+ and A- wires.

  • (not reversed) – Encoder phasing is passed to the controller directly, as wired.
  • Reversed – Inverts direction of actual position traveled for given encoder feedback.

Secondary Encoder Filter – Enables/Disables the use of filters on the secondary encoder signal. See MEIMotorEncoder.

  • (not disabled) – Enables filters on the secondary encoder signal.
  • Disabled – Filters are NOT enabled on the secondary encoder signal.

Secondary Encoder Type –

  • Quad A_B – Standard incremental-type quadrature encoders. No absolute position information is stored.

  • Drive – Reads feedback from SynqNet node to drive memory interface. Either incremental or absolute position information, depending on the SynqNet drive implementation.

  • SSI – Synchronous Serial Interface (absolute position serial encoder interface). Requires SynqNet node hardware support and FPGA support. Please contact MEI for details.

Secondary Encoder Cnts/Rev – Encoder counts per revolution. When available, the counts per rev is read from the SynqNet drive. At present, SynqNet drives do not support configurable counts per revolution for feedback devices. See MEIMotorEncoder.

Amp Disable Delay – Delay (in seconds) before disabling amplifier on events that cause an Abort.

Brake Mode (None or Delay) –

  • None – None disables the motor brake feature.

  • Delay – Delay enables the motor brake feature, and sets functionality to use a delay between the amp enable output and brake output. Setting Brake Mode to Delay does not require a non-zero 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 (MEIMotorDedicatedInAMP_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 MEIMotorFaultConfig.

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 MEIMotorConfig and MEISqNodeConfigUserFault.

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.

Demand Mode – See MEIMotorDemandMode.

  • Torque
  • Velocity
  • Analog
  • Analog Dual DAC

DAC Offset – Adds an offset value to the Motor's DAC Output signal. Valid values are +10V through -10V.

AUX DAC Offset – Adds an offset value to the Motor's Auxiliary DAC Output signal. Valid values are +10V through -10V.

 

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:

 

None – No action taken. The event status will be flagged only while the condition of the event is met. For all other actions, the event status is "sticky."

Stop – Stop the motor within the Stop Time defined in the Motion Supervisor / General Config tab page associated with the motion of this motor. There is no effect on the state of the axis (axes) or Motion Supervisor(s) associated with the motor. The event status is "sticky," but it will clear the next time motion is commanded.

E-Stop – Stop the motor within the E-Stop Time defined in the Motion Supervisor / General Config tab page associated with the motion of this motor. The Axis (or Axes) and Motion Supervisor(s) associated with the motor will be left in an error state.

E-Stop, Abort – Same as E-Stop action (above), except that the motor amplifier is disabled after the motor stops. An additional delay can be defined by setting the Amp Disable Delay attribute on the Motor Summary / General Config tab page.

Abort – Disable the motor amplifier. A delay can be inserted before disabling the amplifier by setting the Amp Disable Delay attribute on the Motor Summary / General Config tab page.

Duration (Dur.) - The minimum amount of time, in seconds, that the Trigger condition must exist for the event to trigger.
NOTE: The duration parameter for the home limit should be set to zero. A non-zero value will result in the home limit being missed.

Direction (Dir.) - When enabled, it characterizes the Hardware Negative or Positive Limit Trigger directionally. When not enabled, the event will always be triggered, even when the motor is not in motion. When enabled, both hardware and software limit events are triggered when the motor is commanded to move only in the Direction the limit is associated with.

 

Configuration Attributes: "I/O" Tab Page

Status Out Config – Requires custom firmware.

  • Status Out Config 0 – n/a
  • Status Out Config 1 – n/a
  • Status Out Config 2 – n/a

 

Configuration Attributes: "Info" Tab Page

Node Type – Identifies the type of node. See MEIMotorInfoNodeType.

Network Number – An index to the SynqNet network (0, 1, 2 etc.).

Node Number – An index to the node (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.

Probe Count – The number of hardware Probe engines for the motor.

 

Configuration Attributes: "SinCom" Tab Page

Mode –

  • None – Non-commutated.
  • Closed Loop Mode – Commutated, closed loop.
  • Open Loop Mode – Commutated, open loop.
  • Simulate – Sets the motor commutation mode to MEIXmpCommModeSIMULATE.

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.
NOTE: 90 degrees is normally reserved for a two- or four-phase motor.

DAC Phasing – The digital-to-analog converter (DAC) provides signals for three-phase servo motor drives. Depending upon how the servo motor and drive are wired, the DAC Phasing Paramter can be used to operate a motor in Normal or Reversed phase.

  • (Normal) – See diagrams below.
  • Reversed (checked) – See diagrams below.

 

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.

A gray checkmark indicates that the bit is on, but there is not an error.
(ex: Broken Wire 2)
A black checkmark indicates something positive.
(ex: Motion Done, At Target)
A red checkmark indicates something potentially negative.
(ex: error states, limits, amp fault, etc.)

 

Fault Bit, Amp – Status of the Amp Motor Fault bit. See MEIMotorFaultMaskAMP.

Fault Bit, Drive – Status of the Motor Fault bit. See MEIMotorFaultMaskDRIVE.

The fault bit is on, but it is not configured to trigger a fault (see MEIMotorConfig.faultConfig.faultMask).

Fault Bit, Watchdog – Status of the Watchdog Motor Fault bit. See MEIMotorFaultMaskWATCHDOG.

The fault bit is on, but it is not configured to trigger a fault (see MEIMotorConfig.faultConfig.faultMask).

Fault Bit, Checksum – Status of the Checksum Motor Fault bit. See MEIMotorFaultMaskCHECKSUM.

The fault bit is on, but it is not configured to trigger a fault (see MEIMotorConfig.faultConfig.faultMask).

Fault Bit, Amp Not Powered – Status of the Amp Not Powered Motor Fault bit. See MEIMotorFaultBitAMP_NOT_POWERED.

The fault bit is on, but it is not configured to trigger a fault (see MEIMotorConfig.faultConfig.faultMask).

Fault Bit, Drive Not Ready – Status of the Drive Not Ready Motor Fault bit. See MEIMotorFaultBitDRIVE_NOT_READY.

The fault bit is on, but it is not configured to trigger a fault (see MEIMotorConfig.faultConfig.faultMask).

Fault Bit, Primary Feedback – Status of the Primary Feedback Motor Fault bit. See MEIMotorFaultMaskFEEDBACK.

The fault bit is on, but it is not configured to trigger a fault (see MEIMotorConfig.faultConfig.faultMask).

Fault Bit, Secondary Feedback – Status of the Secondary Feedback Motor Fault bit. See MEIMotorFaultMaskFEEDBACK.

The fault bit is on, but it is not configured to trigger a fault (see MEIMotorConfig.faultConfig.faultMask).

Amp Fault – Amp Fault Event status. See MPIEventTypeAMP_FAULT.

Amp Warning – Status of the Amp Motor Warning bit. See MEIMotorFaultMaskWARNING.

Home Limit – Home Limit Event status. See MPIEventTypeHOME.

Position Err Limit – Position Error Limit Event status. See MPIEventTypeLIMIT_ERROR.

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.

Encoder Fault – Encoder Fault event status. See MPIEventTypeENCODER_FAULT.

Broken Wire – Broken wire on the primary encoder input signals. See MEIStatusMaskBROKEN_WIRE.

Illegal State – Illegal encoder logic state on the primary encoder input signals. See MEIStatusMaskILLEGAL_STATE.

Broken Wire 2 – Broken wire on the secondary encoder input signals. See MEIStatusMaskBROKEN_WIRE_SECONDARY.

The status bit is on, but there is no secondary encoder.

Illegal State 2 – Illegal encoder logic state on the secondary encoder inputs. See MEIStatusMaskILLEGAL_STATE_SECONDARY.

The status bit is on, but there is no secondary encoder.

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.

DAC Level – DAC output level in volts.

Aux DAC Level – Auxiliary DAC output level in volts.

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.

+ HW Limit – Status of the Positive Hardware Limit dedicated motor input. See MPIMotorDedicatedInLIMIT_HW_POS.

– 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.

Index, Secondary – Status of the Secondary Index dedicated motor input. See MPIMotorDedicatedInINDEX.

Feedback Fault – Status of the Feedback Fault dedicated motor input. See MPIMotorDedicatedInFEEDBACK_FAULT.

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.

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.

 

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