Axis Settings

Axis settings tab explained

4 minute read

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.

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.

Set the gearbox according to the gear ratio specified by the manufacturer.

Gear Reduction Example

Gear ratio 2:1

Gear Overdrive Example

Gear ratio 1:2

Bar	Description
`Gear ratio`	n_Loadside / n_Motorside
`n-Motorside`	Number of teeth on Motorside.
`n-Loadside`	Number of teeth on 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.