Axis Creation and Configuration
(Original Document)
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General
The Motion directory is used to declare an axis.
This creation allows you to simplify the management and programming of an axis using Control Expert.
NOTE: For any modification to a device on the CANopen bus, those servodrives unaffected by the modification do not need to be reconfigured.
Creating an Axis
Carry out the following actions:
Step
Action
1
Right-click on the Motion directory and then execute the New axis command in the contextual menu.
2
Clicking on the New axis command will open a dialog box with three tabs.
3
In the General tab,
  • enter:
    • a name
  • select:
    • a servodrive from the list
    • a compatible CANopen address
Note: If the CANopen addresses have not as yet been defined, leave <No link> in the list. It is possible to continue development of the application if <No link> is assigned to a compatible CANopen address.
When the CANopen addresses have been defined, select an adress in the compatible drive list.
In this tab, the Axis_Z is configured as follows:
4
In the Axis Parameters tab, select:
  • the reference of the servodrive
  • the minimum version of the servodrive’s firmware
In this tab, the Axis_Z is configured as follows:
Note: You are advised to check for consistency between the version of the servodrive’s firmware and the version declared in Control Expert. The version is used to define the drive parameters. During the servodrive init by the CAN_HANDLER MFB function block, the vesrsion is tested.
5
In the Variables Name tab, enter:
  • a name for the Axis_Ref type variable linked to the servodrive
  • a name for the Can_Handler type variable linked to the servodrive
In this tab, the Axis_Z is configured as follows:
6
Click on OK to confirm the selections.
7
Right-click on the Recipe_0 sub-directory and then select Properties in the contextual menu. It is then possible to modify the recipe and parameter variables created by default when creating the axis.
Notes : Tick the Initial Values saving Enabled checkbox allows to include the recipe in the application. This functionality is available for M340 V2.0 or later firmware versions, see the recipe variable.
In this window, the variables for the Axis_Z are named by default as follows:
8
Click on OK to confirm the configuration.
NOTE: It is possible to create several recipes for the same axis (there is one by default). Loading of the required recipe, depending on the request, is performed by the TE_DOWNLOADDRIVEPARAMETER block.
This MFB library block is used to:
  • load parameters to a new servodrive if the previous one is faulty.
  • load a new recipe to a servodrive during a production change, for example
You can delete the recipe if you can not use it.
NOTE: The memory size of unlocated data for the management of a recipe by servodrive type is around 2 Kwords.