Axis Settings

Axis settings tab explained

In the settings tab the user can parameterize and configure each axis. In this section you will learn how to configure your motor in the settings tab.

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Under Drive you can enable or disable axes using the enable switch. If an axis is enabled it can be controlled from the home tab. If an axis is disabled it will not be switched on and cannot be used. If axes are enabled but not physically present or not configured properly an error will be triggered.


Under Encoder you can set the encoder values for each axis, with the gain the value in ticks is transformed to radians, after it is transformed to degrees.

Bar Description
Input The current encoder value in ticks.
Ticks per rev Here you fill in the ticks per revolution of the encoder.
Gain num Is the numerator of the gain.
Gain den Is the denominator of the gain.
Gain Is the ticks per rev times gain num/gain den.
Encoder angle The gain times input is the current encoder angle in radians which is transformed to degrees.

Under Gearbox the parameters of the gearbox can be configured. If your motor has Gearbox, the reduction between motor and load side should be defined. The gearbox ratio is n_Motorside/n_Loadside.

Bar Description
n-Motorside Gear reduction on the motorside.
n-Loadside Gear reduction on the loadside.

Under Homing you reference the axes, pressing Reference All will reference axes 1 till 6 at the same time. Axis settings are saved by pressing Save Settings.

Bar Description
Reference In here you define your axis motor side reference angle [deg], pressing Reference will reference the axis.
Offset The Offset is the difference in ticks between the encoder input and reference angle.
Load Offset The Load Offset is offset on the load side. For example axis 3 and 5 have an offset of 90 degrees motor side. But have a virtual 0deg offset at the load side, knowing this you can set variable zero point of your axis.

Under Axis Actual you can read out the actual axis position in radians and degrees.


Under the Motor Torque the Torque conversion can be configured.

Bar Description
Input The current torque value in ticks.
Gain num Is the numerator of the gain.
Gain den Is the denominator of the gain.
Gain The input motor torque value (in ticks) is multiplied by the gain to result in the Torque.
Torque The Torque value in for example Nm. (You may also configure it to represent a Force in N, which is convenient for linear axes.)

PVA limiters enables the user to turn on and off, set Position, Velocity and Acceleration limits to each axis individually. If a limiters is exceeded, the limit exceeded light will turn on.

Bar Description
Enable With the enable switch you can enable or disable the PVA limiter per axis.
Input The actual reference axis position in [degrees] .
LowerLimit The LowerLimit is a position limiter, in here you can set the lower limit in [degrees].
UpperLimit The UpperLimit is a position limiter, in here you can set the upper limit in [degrees].
VMax The VMax you can set the velocity limiter, in here you can set the velocity in [deg/s].
AMax The AMax you can set the acceleration limiter, in here you can set the acceleration in [deg/s^2].

Under Joint Jog Limiters you can set the maximum position jog of each joint.

Bar Description
Enable With the enable switch you can enable or disable the joint jog limiter per axis.
LowerLimit The LowerLimit is a jog limiter, in here you can set the lower limit in [degrees].
UpperLimit The UpperLimit is a jog limiter, in here you can set the upper limit in [degrees].

Under Axis Setpoint you can read out the set axis position in radians and degrees.


Under Tooltip Offset you can specify the tooltip offset in [mm] for x , y and z direction.

Last modified June 9, 2022: Updated robot app (7d4ee2c9)