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.

 

The following axis group members may be used subordinate to the software module:

  • MOVIDRIVE® with MOVIKIT® MultiMotion (recommended) or MOVIKIT® MultiMotion Camming (if the axis is to be controlled via the "cam" operating mode in the meantime)
  • MOVI-C® Virtual Axis with MOVIKIT® MultiMotion or MOVIKIT® MultiMotion Camming (if the axis is to be controlled via the "cam" operating mode in the meantime)
  • MOVI-C® SoftwareNode with MOVIKIT® MultiAxisController

 

Observe the following information for the subordinate nodes:

  • The software and hardware limit switches must be set before optimizing the drive train.
  • The maximum possible position of an axis in user units (mm or ° for MOVIKIT® Robotics) is limited. Exceeding these limits will result in an error. The permissible range results as follows, depending on the set decimal places of the position:
  • [-2.147.483.648 / 10number of decimal places, +2.147.483.647 / 10number of decimal places]
  • This range must be configured in the drive train or the drive functions of MOVIKIT® MultiMotion when the resolution is parameterized. The limits result from the internal use of 32-bit variables. When setting 4 decimal places of the position, this results in the following maximum travel range in user units, for example:
  • [-2.147.483.648 / 10000, +2.147.483.647 / 10000] = [-214.748 +214.748]
  • [-2.147.483.648 / 10000, +2.147.483.647 / 10000] = [-214.748 +214.748]
  • When using the MOVIKIT® MultiAxisController as a subordinate node, an error is triggered if interpolation is interrupted by an FCB 01 (STO) in the basic setting. In order to be able to trigger an emergency stop without errors, it is recommended to change the response to "Warning". To do this, set the "Warning + Central stop profile" option in the "Axis group operation/Response axis group operation by FCB 01" choice box in the "Monitoring functions" configuration menu in the "Error response overview" submenu of the MOVIKIT® MultiAxisController. The "Advanced" MOVISUITE® permission level is required for this purpose (password: 1108).

 

For the correct operation of the software module, at least the following startup steps are necessary for the subordinate nodes. For detailed information on how to configure the individual components, refer to the corresponding documentation in each case.

  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. Configure the linear or rotary axes. The respective axis is specified in the description of the kinematic model. The linear axes of a Cartesian gantry, for example, must be configured as linear axes in the drive train. In turn, the axes of a roller gantry driving the circulating belt must be configured as rotary axes in the drive train.
  3. Configure the pitch and the number of teeth in the configuration of the kinematic model.
  4. Depending on the mechanical installation of the respective drive, configure a direction of rotation reversal in the "Controller" parameter group of the drive train. 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.
  5. Insert the MOVIKIT® MultiMotion or MOVIKIT® MultiAxisController software module. Use the basic setting for the decimal places. 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.
  6. Activate and configure the hardware limit switches (optional).
  7. 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).
  8. Configure the reference travel.
  9. Configure the emergency stop ramps. Set the jerk to "0".
  10. Configure the torque limit.
  11. Optimize the "controller".
  12. Ensure that the "Modulo minimum" and "Modulo maximum" cycle monitoring is set to "0.0".