Configuring subordinate nodes

WARNING

Unforeseen movements of the robot by configuring a jerk limitation on the inverters.
Physical injury and death.
  • Make sure that no jerk limitation is configured on the inverters.

INFORMATION

For detailed information on how to configure the individual nodes, refer to the corresponding documentation.

 

Observe the following notes for nodes subordinate to the software module:

  • The following axis group members may be used under the robot:
    • MOVIDRIVE® with MOVIKIT® MultiMotion (recommended) or MOVIKIT® MultiMotion Camming
    • MOVI-C® virtual axis with MOVIKIT® MultiMotion or MOVIKIT® MulitMotion Camming
    • MOVI-C® SoftwareNode with MOVIKIT® MultiAxisController
  • The software and hardware limit switches must be set before optimizing the drive train.

 

For the correct operation of the software module, at least the following startup steps are necessary for the lower-level nodes. Refer to the respective documentation for more information.

  1. Configure the drive train and define the user unit. See chapter Default units. The "User unit" component must be used in the drive train to ensure that the decimal places are set correctly.
  2. The kinematic models indicate whether linear or rotary axes must be configured. The linear axes of a Cartesian gantry, for example, must be configured as linear axes in the drive train. However, the axes of a roller gantry driving the circulating belt must be configured as rotary axes in the drive train. Also the pitch and the number of teeth must be set in the kinematic configuration
  3. Depending on the mechanical installation of the respective drive, a direction of rotation reversal must be set in the "Controller" parameter group. The positive direction of movement can be seen on the display in the 3D simulation. The procedure is described in chapter Referencing axes and performing function test.
  4. Insert the MOVIKIT® MultiMotion software module or MOVIKIT® MultiAxisController and use the basic setting for the decimal places.

    5. INFORMATION

    The decimal places of the position are decisive for the maximum position an axis can reach. If the decimal places of the position in the software module are greater than "0", the axis positions for internal processing are multiplied as an integer by the factor 10NumberOfDecPlaces. For example, with 4 decimal places and a target position of the axis of 10.0, the value for internal processing is scaled to 100.000 and the largest possible position that can be achieved is 214.748,3647. The possible range for internal processing is from -2,147,483,648 to 2,147,483,647. With larger positions, the robot enters error state.

    INFORMATION

    If no real axes are present, you have to change to the "Planning" phase in MOVISUITE® to add the MOVIKIT® MultiMotion software module. You then have to return to the "Startup" phase to have the configuration data loaded to the MOVI-C® CONTROLLER.
  5. Activate the existing hardware limit switches (optional).
  6. Activate and configure the software limit switches (the software limit switches should be selected in such a way that they are located in the work envelope in front of the hardware limit switches in a distance that corresponds to the braking distance).
  7. Configure the reference travel.
  8. Configure the emergency stop ramps. Set the jerk to "0".
  9. Configure the torque limit.
  10. Optimize the "controller".
  11. Ensure that the "Modulo minimum" and "Modulo maximum" cycle monitorings are set to "0.0".