StackerCrane with MultiAxisController

Structure of the MOVISUITE^®project

Create a project from a network scan.

Create a project structure in MOVISUITE^®.  

Axis startup

Position the horizontal drive inverter to the left.

Open the startup assistant of the inverter (X axis and Y axis).

Configure the drive train.
(Do not activate combined encoder evaluation in the drive train)  

Add MOVIKIT^® StackerCrane MultiMotion.

Activate the "MOVIKIT^® MultiAxisController" as "higher-level MOVIKIT^®".  

Perform optimization DT1.
(Determining inertia, configuring stiffness and clearance)

MAC startup

Open the startup assistant of the higher-level software node.

Add the MOVIKIT^® StackerCrane MultiAxisController

Configure the control function.  
(Priority of torque or skew compensation)

Use and configure "Combined encoder evaluation".  

StackerCrane startup

Open the startup assistant of the higher-level software node.

Add MOVIKIT^® StackerCrane effiDRIVE.

Configure the fieldbus interface.  
(Start address, optional process data, decimal places)

Code generation IEC project

Open the MOVI-C^® CONTROLLER configuration.

Generate an IEC Project.  

Startup of IEC project

Build IEC project [F11].  

Log in and download the IEC project [Alt + F8].  

Start the IEC program [F5].  

Generate boot application.  

Load source code on MOVI-C^® CONTROLLER.

MAC optimization

Perform and save MAC optimization.  
(Measure time constant, increase P gain of position controller)

Data preservation MOVISUITE^®

Compare MOVISUITE^® project data with device data.
(Function "Devices -> PC" in the context menu of the MOVISUITE^®project)

Update inverter data sets on the MOVI-C^® CONTROLLER.
("Update configuration data" function in the context menu of the MOVI-C^® CONTROLLER)

Save the MOVISUITE^® project.