Configuring an Individual Axis (Channels 1 to 12)

Introduction

Use Control Expert software to configure the TSX CSY 85 module.

An individual axis can be either a real axis (channels 1 to 8) or an imaginary axis (channels 9 to 12). The configuration of a real axis enables control of a physical axis (which uses a servodrive). In this case, a certain consistency must be ensured between the parameters entered in the TSX CSY 85 module configuration screen and those defined during servodrive configuration.

First configure the individual axes, two or three real axes and one axis that will then be used as the master of the real axes to be configured subsequently as slave axes.

In order to be able to use the new interpolation functions described in the rest of this documentation, you must observe the following rules:

Only the following measurement units (for real axes) may be used:
- Type = Linear
- Position = mm
- Speed = mm/s
- Acceleration = mm/s2
Limit parameters Max. speed , Max. acceleration and Max. deceleration in the Limits zone are used by the interpolation algorithm in order to calculate the possible speeds on each segment of the trajectory.
Use these values to set the parameters in the Movement zone, which include:
- Max acceleration = Acceleration.
- Max deceleration = Deceleration.
The following rules govern the configuration of the axis, which will subsequently be the trajectory master:
- Max. speed = vectorial sum of the maximum speeds of each real axis on the trajectory (slave axes).
- Acceleration and Deceleration = Minimum values for acceleration and deceleration of the real axes on the trajectory

Configuration Screen

The Configuration screen for an individual axis appears below. There are 5 parameter entry zones: Limits, Enabling position checking, Units, Scale factor, and Movement.

The table below presents the different elements of the Configuration screen.

Address	Element	Function
1	Tabs	The tab in the foreground indicates the current mode (Debug in this example). Each mode can be selected using the corresponding tab. Available modes are: Debug, accessible only in online mode, Diagnostic (Default), accessible only in online mode, Adjustment, Configuration.
2	Module zone	Displays the short title of the module. In the same zone there are 3 lamps showing the status of the module in online mode: RUN shows the operating mode of the module. ERR indicates an internal module error. I/O indicates a fault outside the module or an application fault.
3	Channel zone	Allows you to: display the tabs, by clicking on the device reference: Description: provides the device characteristics. I/O objects: provides a preview symbol of the input/output objects. Default: gives access to the device defaults (in online mode). choose the channel, displays the Symbol, channel name defined by the user (via the variables editor).
4	General parameters zone	Used to unforce bits and view the counting function: Unforce: button used to unforce forced bits. Function: recalls the configured counting function. This information cannot be modified. Task: displays the MAST or FAST task configured. This information cannot be modified.
5	Current parameters zone	This zone displays the I/O status and the different parameters for the count in progress. If the contents of the counting register cannot be used following an error on the inputs, the message or lamp Invalid measurement appears in red.

The remainder of this chapter describes the parameters of the current parameters zone

Limits Zone Parameters

Description

Parameters	Description
Position checking	For a limited machine, this checkbox can be used to enable the position limit check. The axis position is compared with the position limits defined during configuration. When the axis reaches one of its limits, its movement is stopped and an error is generated. For an infinite axis, this box should not be checked.
Max. position	Maximum position limit. This value is entered as a floating point.
Min. position	Minimum position limit. This value is entered as a floating point.
Max. speed	Maximum permissible speed. This value is independent of the value defined in the servodrive (real axis). This value is entered as a floating point. Setting the maximum speed to 0 disables speed monitoring.
Max. acceleration	Maximum permissible acceleration. This value is independent of the value defined in the servodrive (real axis). This value is entered as a floating point.
Max. deceleration	Maximum permissible deceleration. This value is independent of the value defined in the servodrive (real axis). This value is entered as a floating point.

Enabling Position Checking Zone Parameters

Description

Parameters	Description
Active	This checkbox can be used to enable position checking. When the axis is disabled: If its movement is less than the tolerance, the axis returns to its last position when it is reactivated. If its movement is greater than the tolerance, the axis remains in its new position when it is reactivated.
Tolerance	Value of the monitoring window. This value is entered as a floating point.

Units Zone Parameters

Description

Parameters	Description
Type	Type of physical units used to express the position, speed and acceleration readings: Angular, Linear, Linear English or Encoder points.
Position	Position unit Angular: mrad, rad, deg, arcmin, revs Linear: μm, mm, cm, m Linear English: in, ft, yd, mile Encoder points: points.
Speed	Speed unit. Angular: mrad/s, rad/s, rad/min, deg/s, deg/min, arcmin/s, revs/s, revs/min Linear: μm/s, mm/s, mm/min, cm/s, cm/min, m/s, m/min Linear English: in/s, in/min, ft/s, ft/min, yd/min, mile/s Encoder points: points/ms, points/s, points/min
Acceleration	Acceleration unit. Angular: mrad/s2, rad/s2, deg/s2, arcmin/s2, revs/s2, revs/min/s Linear: μm/s2, mm/s2, cm/s2, m/s2, m/min2, g’s Linear English: in/s2, ft/s2, yd/min2, mil/s2 Encoder points: points/ms2, points/s2

Scale Factor Zone Parameters

Description

Parameter	Description
Numerator	Scale factor numerator. This value is entered as a floating point.
Denominator	Scale factor denominator. This value is entered as a floating point.

Movement Zone Parameters

Description

Parameter	Description
Modulo	For an infinite axis, this checkbox can be used to activate the modulo function.
Max. modulo	Upper modulo limit. This value is entered as a floating point.
Min. modulo	Lower modulo limit. This value is entered as a floating point.
In-position band	Value of the in-position band. This value is entered as a floating point.
Acceleration	Acceleration value defined for a movement. This value is entered as a floating point.
Deceleration	Deceleration value defined for a movement. This value is entered as a floating point.
Acceleration type	Acceleration type: Rectangle 100%, Trapezoid 125%, Trapezoid 150%, Trapezoid 175% or Triangle 200%.

Rescaling

For a servodrive whose position is defined in angular units (degrees) the module performs a rescaling operation according to its reference, which is measured in revolutions, and its speed, which is measured in revolutions/second.

For example, if the axis is configured as angular axis with a scale factor of 1/1:

Position unit in revolutions and speed unit in rev/s: An incremental movement of position 1 and speed 1 will execute 1 revolution in 1 second.
Position unit in degrees and speed unit in rev/min: An incremental movement of position 360 and speed 60 will execute 1 revolution in 1 second.

Changing the Unit Type

When the type of unit is changed in relation to the servodrive, which remains in revolutions, the reference unit of the module is mm (linear type) and inches (linear English type). The transformation achieved by the module is equal to:

1 revolution for the servodrive = 1 mm for the module (linear type)
1 revolution for the servodrive = 1 inch for the module (linear English type)

For example, if the axis is configured as linear with a scale factor of 1/1:

Position unit in mm and speed unit in mm/s: An incremental movement of position 1 and speed 1 will execute 1 revolution in 1 second.
Position unit in mm and speed unit in mm/s: An incremental movement of position 1000 and speed 1000 will execute 1 revolution in 1 second (or 1000 mm in 1 second).

Using the Scale Factor

Consider an application where the axis moves a belt: for instance, 1 axis revolution moves the belt 100 mm. If you wish to express the position in mm:

The position unit will be configured in mm, the speed in mm/s, the scale factor numerator will be equal to 100, and the denominator will remain at 1.
An incremental movement of position 1000 and speed 1000 will move the belt 1 m (or 10 axis revolutions) in 1 second (speed 1000 mm/s).