Configuring lower-level axis groups

 

If you are using the software module with lower-level axis groups (MOVIKIT® StackerCrane MultiAxisController), perform the following steps:

Configure the MOVIKIT® StackerCrane MultiMotion

First, perform the following steps in the configuration of the MOVIKIT® StackerCrane MultiMotion:

  1. Open the "Module configuration" > "Basic settings" configuration menu.
  2. In the "Higher-level MOVIKIT®" section, select "MOVIKIT® StackerCrane MultiAxisController".
  • Only the relevant setting fields are now shown on the configuration menu of the MOVIKIT® StackerCrane MultiMotion. It is thus indicated which settings have to be made in the configuration of the MOVIKIT® StackerCrane MultiAxisController and which in the configuration of the MOVIKIT® StackerCrane MultiMotion.
Configure the MOVIKIT® StackerCrane MultiAxisController

Now perform the following steps in the configuration of the MOVIKIT® StackerCrane MultiAxisController:

Apply all suggested values after changing the lower-level drive train

  1. Open the "Module configuration" > "Basic settings" configuration menu and click [Apply all suggested values] in the "Tools used" section.

Set the operating mode

  1. Open the "Module configuration" > "Control loop functions" configuration menu.
  2. In the "Balance controller" section, select the required priority from the "Priority of compensation" drop-down list. For more information, refer to chapter MOVIKIT® StackerCrane MultiAxisController.

Set 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 duration of the actual speed recorded in the trace). See also the application example Combined encoder evaluation.

Define 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. (Recommendation: window width 2 mm, hysteresis 4 mm)

Set the position controller

For information on determining the time constant and on optimizing the P gain of the position controller, see the application examples in Combined encoder evaluation.