Configuring the MOVIKIT® StackerCrane MultiAxisController

INFORMATION

You will find further information in the chapter Configuration and in the documentation for the MOVIKIT® MultiAxisController.

If you use the software module in combination with the MOVIKIT® MultiAxisController, carry out the following steps in the configuration of the MOVIKIT® StackerCrane MultiAxisController:

Make the basic settings
  1. Open the "Basic settings" menu.
  2. After the full startup of the axis and after determining (as far as possible) the inertia and controller optimization with the motor encoder and external encoder, click the [Initialize settings] button.
  3. Select the axis group members in the "Basic settings" section under "Associated axis group members of the MOVIKIT® MultiAxisController".
  4. Select the encoders to be taken into account in the "Basic settings" section under "Take account of external encoders".
  5. Optional: Activate the "Optimization monitor" in the "Used tools" area.
Define the "In position" window
  1. Open the "Monitoring functions" menu and its submenu "In position".
  2. Set the "Window width" and the "Hysteresis" in the "In position" section using the respective selection lists. (Recommendation: window width 2 mm, hysteresis 4 mm)
Set the operating mode
  1. Open the "MultiAxisController – control function menu".
  2. In the "Operating mode setting" section, select the required operating mode from the "Balancing priority" drop-down list. For more information on operating modes, refer to the chapter Functions and to the → manual of the MOVIKIT® MultiAxisController.
Set the encoder evaluation
  1. Open the "Encoder evaluation" menu.
  2. In the "Encoder evaluation" section, select the "Motor encoder and external encoder" setting from the "Encoder type" drop-down list.
  3. Set the "Time constant" (period of the actual speed recorded in the trace) in the respective edit box.
  4. Set the "Delay" of the encoder in the respective edit box. If required, contact SEW‑EURODRIVE or the manufacturer of the external encoder to obtain the relevant value.
Set the position controller
  1. Open the "Position controller" menu.
  2. In the "Position controller" section, set the parameter "P gain" (INFORMATION: not on the "MultiAxisController – control function" menu). Start with the suggested value and multiply the value until the desired control result is reached. Visualize the control behavior based on the setpoint speed and actual speed. See also chapter Trace function.