StackerCrane with MultiAxisController

Startup step

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Structure of the MOVISUITE®project

Create a project from a network scan.

 

Create a project structure in MOVISUITE®.  

 

Startup of components with MOVIRUN® smart

Position the horizontal drive to the left.

 

Open the "Startup MOVIRUN® smart" configuration menu.  

 

Open the startup assistant of the inverter (X 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)

 

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".  

 

Open the startup assistant of the inverter (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)

 

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".  

 

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)

 

Transfer data to MOVI-C® CONTROLLER.  

 

Saving a MOVISUITE®project

Save the MOVISUITE® project.  

 

Open MOVIRUN® DiagnosticMonitoring.  

 

MAC optimization

Open the IEC Editor via the context menu of the MOVI-C® CONTROLLER.

 

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)

 

Transfer data to MOVI-C® CONTROLLER.  

 

Save the MOVISUITE® project.