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 "Advanced settings" > "Set parameters".
  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".
Setting the operating mode
  1. Open the "Module configuration" > "Control loop functions" configuration menu.
  2. In the "Balance controller" section, select the required operating mode from the "Priority of compensation" 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.
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 for controller functions" section using the corresponding drop-down lists. (Recommendation: window width 2 mm, hysteresis 4 mm)
Setting the position controller
  1. Open the "Module configuration" > "Control loop functions" configuration menu.
  2. In the "Position controller" section, set the "P gain" parameter (INFORMATION: Not in the "MultiAxisController – Control function" menu). Start with the suggested value and multiply the value until the desired control result is reached. To do so, create a visual of the control behavior with the Trace function using the setpoint speed and the actual speed or, for simplified optimization of the MultiAxisController, use the Optimization monitor.