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.

Observe the following general 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 / 10NumberOfDecPlaces, +2.147.483.647 / 10NumberOfDecPlaces]
  • This range must be configured in the drive train or the drive functions of the axis software module when parameterizing the resolution. 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 ]

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. Refer to 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 for this is explained in chapter Referencing axes and performing function test.
  5. Add the desired software module to the lower-level axis. 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 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 at a distance that corresponds to the braking distance).
  8. As the travel range of a robot's single axes is normally very small, the setting "Without overflow counter" is usually recommended for the "Position mode" when configuring the single axes of the robot (this setting can be accessed by selecting the "Diagnostics" > "Process values" > "Encoder 1" > "Basic settings" configuration menu). This has the benefit of the reference being retained in the event of an inverter replacement. However, check the following condition beforehand: The travel range between negative and positive software/hardware limit switch is in the range of [-2048 to +2048] motor revolutions. The TRIPOD shoulder joint, for example, may travel from -30° to +150° and thereby has a travel range of 180° or half a revolution on the gear unit output side. With a (very high) gear unit ratio of 100, this results in a maximum of 50 motor revolutions. As this is less than the permitted 2048 motor revolutions, the "Without overflow counter" setting can be used.
  9. Configure the reference travel.
  10. Configure the emergency stop ramps. Set the jerk to "0".
  11. Configure the torque limit.
  12. Optimize the "controller".
  13. Ensure that the "Modulo minimum" and "Modulo maximum" cycle monitorings are set to "0.0".
Additional information