Axes control

Convert drive units, limit the setpoints, watch the actual values and tune the controllers of every axis.

  2 minute read  

Every axis runs through the same chain. The setpoint from your application is checked, limited and, in CSV or CST, controlled, then converted to drive units. The actual values come back the same way and are watched by window detectors. Configure the blocks in the order of their numbers; click a block to open its page.

Setpoint from your application: choose a setpoint mode Setpoint from your app Setpoint jump detector Jump detector stops on a jump Step 2: the axis limiter Limiter keeps the setpoint in range 2 Step 4: position and velocity controllers Controllers CSV and CST only 4 Step 1: transformations Transformations SI units to drive units and back 1 The drive: connect and link it Drive setpoint, towards the drive Step 3: window detectors Window detectors warn or stop when an actual value leaves its window 3 Actual to your app actual values

What to configure

Step Block What it does Needed
1 Transformations Converts between drive units (ticks, rpm, ‰ of rated torque) and rad, m, rad/s or Nm Every axis
2 Limiter Keeps the setpoint inside the position, velocity, acceleration and jerk limits Every axis
3 Window detectors Raises a warning or an emergency stop when an actual value leaves its window Recommended for every axis
4 Controllers Closes the position or velocity loop in Motorcortex Only when the drive runs CSV or CST

Where the parameters are

Each drive has its own actuator control loop under root/AxesControl/actuatorControlLoops/: actuatorControlLoop01 for the first, actuatorControlLoop02 for the second, and so on. The transformations, controllers and most window detectors are in there. The limiter and the setpoint jump detectors work on all axes at once and sit directly under root/AxesControl/, with one entry per axis (Limits01, windowDetector01).

Change the values in Motorcortex Desk: find the parameter under Parameters, type the new value and press Enter to write it. Then press Save parameter tree to server (Ctrl+S) so the values survive a restart.

Next: Step 4: set up the mechanism.