Using MOVIKIT® MultiAxisController in a cascade

To increase the maximum number of axes or to combine different priorities (e.g. for the bridge crane), the software module can be used in a cascade.

The following figure shows an example of such a structure:

Observe the following information when using the MOVIKIT® MultiAxisController in a cascade:

  • Position controller
  • The position controller is configured via the configuration of the higher-level MOVIKIT® MultiAxisController ("MAC1"). The position controller configuration of the lower-level MOVIKIT® MultiAxisControllers ("MAC2" and "MAC3") is only effective if they have been uncoupled via access control. It is therefore recommended to keep the configuration of the position controllers the same.
  • Encoder evaluation
  • When using the "Combined encoder evaluation" function (motor encoder and external encoder), it is recommended to select the "Motor encoder" option as the "Encoder source" in the "Encoder evaluation" configuration menu of "MAC2" and "MAC3" and the "Motor encoder and external encoder" option for "MAC1". However, if the application requires uncoupling "MAC2" or "MAC3" via access control, the option "Motor encoder and external encoder" should be selected as the "Encoder source" here, too.
  • Referencing
  • Referencing is configured via the configuration of the higher-level MOVIKIT® MultiAxisController ("MAC1"). The configuration of the referencing of the lower-level MOVIKIT® MultiAxisControllers ("MAC2" and "MAC3") is only effective if they have been uncoupled via access control.
  • When using a readjustment in "MAC1", only one limit switch of "MAC2" and one limit switch of "MAC3" are hit. There is no possibility that both the limit switches of the lower-level axes "A1" and "A2", as well as those of "A3" and "A4", can be actuated. Because of the OR linkage, the first limit switch that is hit counts as "target reached", not the limit switch of the first member. It is not possible to perform referencing from a MOVIKIT® MultiAxisController that is higher-level than "MAC1".