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:

Making basic settings
  1. Open the "Module configuration" > "Basic settings" configuration 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 configuration menu "Module configuration" > "Basic settings" under "Associated axis group members of the MOVIKIT® MultiAxisController".
Defining the "In position" window
  1. Open the "Monitoring functions" > "Referenced" configuration menu.
  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)
Setting the operating mode
  1. Open the "Module configuration" > "Control loop functions" configuration menu.
  2. In the "Operating mode setting" section, select the required operating mode from the "Balancing priority" drop-down list. For more information on the operating modes refer to chapter Functions and the →manual for the MOVIKIT® MultiAxisController.
Setting the encoder evaluation
  1. Open the "Module configuration" > "Encoder evaluation" configuration menu.
  2. Deactivate the external encoders if none are available.
  3. Select the type under "External encoder settings". (Encoder 2 connected to inverter or EtherCAT®encoder)
  4. Set the "Time constant" (period of the actual speed recorded in the trace) in the respective edit box.
Setting the position controller
  1. Open the "Module configuration" > "Control loop functions" configuration menu.
  2. In the "Position controller" section, set the parameter "P gain" (NOTE: not in 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.