Configuring an Individual Axis (Channels 1 to 12)

Introduction

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 84 module configuration screen and those defined during servodrive configuration.

An imaginary axis can, for example, act as a master axis in a follower set. All the parameters of such an axis are defined in the configuration screens of the axis command module.

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.

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
Enable	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 a project 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).