WMX Parameter Manual

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1 WMX Parameter Manual Revision Soft Servo Systems, Inc.

2 Warning / Important Notice Warning The product described herein has the potential through misuse, inattention, or lack of understanding to create conditions that could result in personal injury, damage to equipment, or damage to the product(s) described herein. Machinery in motion and high-power, high-current servo drives can be dangerous; potentially hazardous situations such as runaway motors could result in death; burning or other serious personal injury to personnel; damage to equipment or machinery; or economic loss if procedures aren t followed properly. Soft Servo Systems, Inc. assumes no liability for any personal injury, property damage, losses or claims arising from misapplication of its products. In no event shall Soft Servo Systems, Inc. or its suppliers be liable to you or any other person for any incidental collateral, special or consequential damages to machines or products, including without limitation, property damage, damages for loss of profits, loss of customers, loss of goodwill, work stoppage, data loss, computer failure or malfunction claims by any party other than you, or any and all similar damages or loss even if Soft Servo Systems, Inc., its suppliers, or its agent has been advised of the possibility of such damages. It is therefore necessary for any and all personnel involved in the installation, maintenance, or use of these products to thoroughly read this manual and related manuals and understand their contents. Soft Servo Systems, Inc. stands ready to answer any questions or clarify any confusion related to these products in as timely a manner as possible. The selection and application of Soft Servo Systems, Inc. s products remain the responsibility of the equipment designer or end user. Soft Servo Systems, Inc. accepts no responsibility for the way its controls are incorporated into a machine tool or factory automation setting. Any documentation and warnings provided by Soft Servo Systems, Inc. must be promptly provided to any end users. This document is based on information that was available at the time of publication. All efforts have been made to ensure that this document is accurate and complete. However, due to the widely varying uses of this product, and the variety of software and hardware configurations possible in connection with these uses, the information contained in this manual does not purport to cover every possible situation, contingency or variation in hardware or software configuration that could possibly arise in connection with the installation, maintenance, and use of the products described herein. Soft Servo Systems, Inc. assumes no obligations of notice to holders of this document with respect to changes subsequently made. Under no circumstances will Soft Servo Systems, Inc. be liable for any damages or injuries resulting from any defect or omission in this manual. Soft Servo Systems, Inc. makes no representation or warranty, expressed, implied, or statutory with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or usefulness of the information contained herein. NO IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS OF PURPOSE SHALL APPLY. i

3 Warning / Important Notice Important Notice The information contained in this manual is intended to be used only for the purposes agreed upon in the related contract with Soft Servo Systems, Inc. All material contained herein is subject to restricted rights and restrictions set forth in the contract between the parties. These manuals contain confidential and proprietary information that is not to be shared with, nor distributed to, third parties by any means without the prior express, written permission of Soft Servo Systems, Inc. No materials contained herein are to be duplicated or reproduced in whole or in part without the express, written permission of Soft Servo Systems, Inc. Although every effort and precaution has been taken in preparing this manual, the information contained herein is subject to change without notice. This is because Soft Servo Systems, Inc. is constantly striving to improve its products. Soft Servo Systems, Inc. assumes no responsibility for errors or omissions. All rights reserved. Any violations of contractual agreements pertaining to the materials herein will be prosecuted to the full extent of the law. ii

4 Contents Table of Contents Warning... i Important Notice... ii Table of Contents... iii List of Figures... v Chapter 1: WMX API Parameters Chapter 2: Feedback Parameters In Position Width Parameter In Position State for Idle Axes In Position State for Axes Executing Position Commands In Position State for Axes Executing Interpolation Commands In Position State for Axes Executing Other Commands In Position State for Sync Axes In Position State for Single Turn Axes Velocity Monitor Source Positioning Completed Width DPset Delay Chapter 3: Home Parameters Home Type Parameter Names of Home States in the WMX API Home Direction Parameter Grid Search Velocity Parameter Grid Search Acceleration Parameter Grid Search Deceleration Parameter Home Switch Search Velocity Parameter Home Switch Search Acceleration Parameter Home Switch Search Deceleration Parameter Home Switch Reverse Distance Parameter Home Shift Velocity Parameter Home Shift Acceleration Parameter Home Shift Deceleration Parameter Home Shift Distance Home Shift Polarity Multiple Z-Pulse Multiplier Compensation Pause Mode Maximum Home Switch On At Start Reverse Distance Maximum Limit Switch Reverse Distance Z-Pulse Distance Check Gantry Homing Gantry Homing Single HS Gantry Homing Single LS Gantry Homing Single ZP Gantry Homing Single HSTP Limit Switch Reverse Type Chapter 4: Limit Switch Parameters Limit Switch Type Positive Limit Switch Type Negative Limit Switch Type Limit Switch Polarity Near Limit Switch Type Positive Near Limit Switch Type Negative Near Limit Switch Type Positive Near Limit Switch Byte Address iii

5 Contents 4.9 Positive Near Limit Switch Bit Address Positive Near Limit Switch Polarity Negative Near Limit Switch Byte Address Negative Near Limit Switch Bit Address Negative Near Limit Switch Polarity External Limit Switch Type Positive External Limit Switch Type Negative External Limit Switch Type Positive External Limit Switch Byte Address Positive External Limit Switch Bit Address Positive External Limit Switch Polarity Negative External Limit Switch Byte Address Negative External Limit Switch Bit Address Negative External Limit Switch Polarity Soft Limit Type Positive Software Limit Negative Software Limit Limit Switch Deceleration Limit Switch Slow Deceleration All Limit Switch During Homing Chapter 5: Motion Parameters Quick Stop Deceleration E-Stop Deceleration Starting Velocity End Velocity Minimum Velocity Prohibit Overtravel Linear Interpolation Override Smoothing Percent Interrupted Interpolation Use Quick Stop Chapter 6: Alarm Parameters Following Error Stopped Following Error Moving Following Error Type Velocity Following Error Stopped Velocity Following Error Stopped Time Velocity Following Error Moving Velocity Following Error Moving Time Velocity Following Error Type Servo Off During Amp Alarm Chapter 7: System Parameters Axis Unit Open Loop Mode Save Flight Recorder Chapter 8: Sync Parameters In Sync Width Sync Gain Use Velocity Offset Master Desync Type Master Desync Deceleration Slave Desync Type Slave Desync Deceleration Match Position Chapter 9: System Parameters Enable Flight Recorder Flight Recorder Time Stamp Chapter 10: Other Parameters iv

6 Contents 10.1 Axis Command Mode Gear Ratio Numerator Gear Ratio Denominator Single Turn Mode Positioning Commands for Single Turn Axes Single Turn Encoder Count Maximum Torque Limit Positive Torque Limit Negative Torque Limit Axis Multiplier Stop Parameter Mode Stop Parameter Deceleration Stop Parameter Time Stop Parameter Velocity Mode Stop Parameter Velocity Deceleration Stop Parameter Velocity Time List of Figures Table 1-1: Parameter Name Mapping Table 3-1: WMX API Home States v

7 Chapter 1: WMX API Parameters WMX PARAMETER MANUAL Chapter 1: WMX API Parameters The parameters that are available in the WMX API are summarized in the following table. Parameter Type Parameter Name Units Corresponding Variable Name in SDK In Position Width [pulse] InPosWidth Feedback Parameters Velocity Monitor Source 0/1 VelocityMonitorSource Position Completed Width [pulse] PosCompWidth DPset Delay 0/1 DPsetDelay Home Type WMX_HOME_TYPE HomeType Home Direction WMX_HOME_DIR HomeDir Grid Search Velocity [pulse/s] GridSearchVel Grid Search Acceleration [pulse/s^2] GridSearchAcc Grid Search Deceleration [pulse/s^2] GridSearchDec Home Switch Search Velocity Home Switch Search Acceleration Home Switch Search Deceleration [pulse/s] [pulse/s^2] [pulse/s^2] HSSearchVel HSSearchAcc HSSearchDec Homing Parameters Home Switch Reverse Distance [pulse] HSReverseDistance Home Shift Velocity [pulse/s] HomeShiftVel Home Shift Acceleration [pulse/s^2] HomeShiftAcc Home Shift Deceleration [pulse/s^2] HomeShiftDec Home Shift Distance [pulse] HomeShiftDistance Home Switch Polarity 0/1 HSPol Multiple Z-Pulse MultipleZP Multiplier Compensation 0/1 MultiplierCompensation Pause Mode 0/1 Pause Mode Max Home Switch On At Start Reverse Distance [pulse] MaxHSOnAtStartReverseDist ance 1-1

8 Chapter 1: WMX API Parameters Max Limit Switch Reverse Distance [pulse] MaxLSReverseDistance ZP Distance Check [pulse] ZPDistanceCheck Gantry Homing 0/1 GantryHoming Gantry Homing Single HS 0/1 GantryHomingSingleHS Gantry Homing Single LS 0/1 GantryHomingSingleLS Gantry Homing Single ZP 0/1 GantryHomingSingleZP GantryHomingSingleHST P Limit Switch Reverse Type 0/1 GantryHomingSingleHSTP 0/1 LimitSwitchReverseType Limit Switch Type WMX_LIMITSWITCH_TYPE LSType Positive Limit Switch Type Negative Limit Switch Type WMX_LIMITSWITCH_TYPE WMX_LIMITSWITCH_TYPE PLSType NLSType Limit Switch Polarity 0/1 LSPol Near Limit Switch Type WMX_LIMITSWITCH_TYPE NearLSType Positive Near Limit Switch Type Negative Near Limit Switch Type WMX_LIMITSWITCH_TYPE WMX_LIMITSWITCH_TYPE NearPLSType NearNLSType Limit Switch Parameters Positive Near Limit Switch Byte Address Positive Near Limit Switch Bit Address Positive Near Limit Switch Polarity Negative Near Limit Switch Byte Address Negative Near Limit Switch Bit Address Negative Near Limit Switch Polarity External Limit Switch Type Positive External Limit Switch Type 0 MAX_IOINSIZE NearPLSByte 0 MAX_IOINSIZE NearPLSBit 0/1 NearPLSPol 0 MAX_IOINSIZE NearNLSByte 0 MAX_IOINSIZE NearNLSBit 0/1 NearNLSPol WMX_LIMITSWITCH_TYPE ExtLSType WMX_LIMITSWITCH_TYPE ExtPLSType 1-2

9 Chapter 1: WMX API Parameters Negative External Limit Switch Type WMX_LIMITSWITCH_TYPE ExtNLSType Positive External Limit Switch Byte Address Positive External Limit Switch Bit Address Positive External Limit Switch Polarity Negative External Limit Switch Byte Address Negative External Limit Switch Bit Address Negative External Limit Switch Polarity 0 MAX_IOINSIZE ExtPLSByte 0 MAX_IOINSIZE ExtPLSBit 0/1 ExtPLSPol 0 MAX_IOINSIZE ExtNLSByte 0 MAX_IOINSIZE ExtNLSBit 0/1 ExtNLSPol Soft Limit Type WMX_LIMITSWITCH_TYPE SoftLimitType Positive Soft Limit Type WMX_LIMITSWITCH_TYPE PSoftLimitType Negative Soft Limit Type WMX_LIMITSWITCH_TYPE NSoftLimitType Positive Software Limit [pulse] SoftLimitPPos Negative Software Limit [pulse] SoftLimitNPos Limit Switch Deceleration [pulse/s^2] LSDec Limit Switch Slow Deceleration [pulse/s^2] LSSlowDec All Limit Switch During Homing 0/1 AllLSDuringHoming Quick Stop Deceleration [pulse/s^2] QStopDec E-Stop Deceleration [pulse/s^2] EStopDec Starting Velocity [pulse/s] StartingVelocity End Velocity [pulse/s] EndVelocity Motion Parameters Minimum Velocity [pulse/s] MinimumVelocity Prohibit Overtravel 0/1 ProhibitOvertravel Linear Interpolation Override SmoothingPercent [pulse] LinIntOvrdSmoothPercent Interrupted Interpolation Use Quick Stop 0/1 InterruptedIntplUseQuickStop Alarm Parameters Following Error Stopped [pulse] FollowingErrorStopped 1-3

10 Chapter 1: WMX API Parameters Following Error Moving [pulse] FollowingErrorMoving Following Error Type Velocity Following Error Stopped Velocity Following Error Stopped Time Velocity Following Error Moving Velocity Following Error Moving Time Velocity Following Error Type Servo Off During Amp Alarm WMX_ALARM_FOLLOWIN G_ERROR_TYPE [pulse/s] [s] [pulse/s] [s] WMX_ALARM_VELOCITY_ FOLLOWING_ERROR_TYP E FollowingErrorType VelFollowingErrorStopped VelFollowingErrorStoppedTim e VelFollowingErrorMoving VelFollowingErrorMovingTim e VelFollowingErrorType 0/1 ServoOffDuringAmpAlarm System Parameters Axis Unit [pulse] AxisUnit Open Loop Mode 0/1 OpenLoopMode SaveFlightRecorder 0/1 SaveFlightRecorder In Sync Width [pulse] InSyncWidth Sync Gain [1/s] SyncGain Use Velocity Offset 0/1 UseVelocityOffset Sync Parameters Master Desync Type WMX_MASTER_DESYNC_ TYPE MasterDesyncType Master Desync Deceleration [pulse/s^2] MasterDesyncDec Slave Desync Type WMX_SLAVE_DESYNC_T YPE SlaveDesyncType Slave Desync Deceleration [pulse/s^2] SlaveDesyncDec 1-4

11 Chapter 1: WMX API Parameters Match Position 0/1 MatchPosition System Parameters 2 Enable Flight Recorder 0/1 EnableFlightRecorder Flight Recorder Time Stamp 0/1 FlightRecorderTimeStamp Table 1-1: Parameter Name Mapping 1-5

12 Chapter 2: Feedback Parameters 2.1 In Position Width Parameter Default Value: 1000 Chapter 2: Feedback Parameters The width of the window centered at the commanded position. When the actual position falls into this window, the axis is considered to be in position. The units are encoder counts. The "In Position Width 2," "In Position Width 3," "In Position Width 4," and "In Position Width 5" parameters determine the in position width of the "In Position 2," "In Position 3," "In Position 4," and "In Position 5" statuses. The in-position state is determined differently while executing different commands, as explained in the following sections In Position State for Idle Axes An axis that is idle will be in position if the absolute difference between the feedback position and the cyclic command position is within the in position width In Position State for Axes Executing Position Commands An axis that is executing an absolute or relative position command will be in position if the absolute difference between the feedback position and the target position of the position command is within the in position width In Position State for Axes Executing Interpolation Commands An axis that is executing a linear interpolation command will be in position if the absolute difference between the cyclic command position and the target position of the interpolation command for that axis is within the in position width. The feedback positions from the interpolating axes are not considered when calculating the in position state. An axis that is executing a circular interpolation command will be in position if the arc length between the current position on the interpolation arc and the target position on the interpolation arc is within the in position width. The feedback positions from the interpolating axes are not considered when calculating the in position state In Position State for Axes Executing Other Commands An axis that is executing any other command, including home commands, jog commands, and stop commands, will not be considered to be in position until the command is finished and the axis becomes idle In Position State for Sync Axes A sync slave axis whose master axis is executing a position command will be in position if the absolute difference between the feedback position of the slave axis and the target position of the position command, shifted by the sync offset between the master axis and the slave axis when synchronous control was established, is within the in position width of the slave axis. 2-1

13 Chapter 2: Feedback Parameters A sync slave axis whose master axis is idle will be in position if the absolute difference between the feedback position of the slave axis and the cyclic command position of the slave axis is within the in position width. A sync slave axis whose master is executing any other command, including jog commands and stop commands, or whose master is a sync slave axis of another axis, will not be considered to be in position In Position State for Single Turn Axes A single turn axis that is idle will be in position if the absolute difference between the feedback position and the cyclic command position is within the in position width. Wraparound around the single turn encoder count range is considered when calculating the in position width while the axis is idle. For example, if the single turn encoder count is 1000 pulses, the in position width is 100 pulses, and the cyclic command position is 0, the axis will be in position if the feedback position is between or between A single turn axis that is executing a position command will be in position if the absolute difference between the feedback position and the target position of the position command is within the in position width. If the distance commanded by the position command causes the axis to move more than one single turn encoder count, the axis will be considered to be in position each time it moves past the target position. For example, if the single turn encoder count is 1000 pulses, and a relative position command of 5000 pulses is executed, the axis will wrap around the single turn range five times. Each time the axis passes the target position, the axis will be in position as long as the distance between the feedback position and the target position is within the in position width. Wraparound around the single turn encoder count range is considered when calculating the in position width during the execution of a position command. For example, if the single turn encoder count is 1000 pulses, the in position width is 200 pulses, and a relative position command of 1100 pulses is executed when the axis is at 0 position, the in axis will be in position at positions 900 to 999 and 0 to 100. A single turn axis that is executing a linear interpolation command will be in position if the absolute difference between the cyclic command position and the target position of the interpolation command for that axis is within the in position width. The feedback positions from the interpolating axes are not considered when calculating the in position state. Wraparound around the single turn encoder count range is NOT considered when calculating the in position width during the execution of a linear interpolation command. A single turn axis that is executing a circular interpolation command will be in position if the arc length between the current position on the interpolation arc and the target position on the interpolation arc is within the in position width. The feedback positions from the interpolating axes are not considered when calculating the in position state. Wraparound around the single turn encoder count range is NOT considered when calculating the in position width during the execution of a circular interpolation command. A single turn axis that is executing any other command, including home commands, jog commands, and stop commands, will not be considered to be in position until the command is finished and the axis becomes idle. 2.2 Velocity Monitor Source Allowed Values: 0 (Calculate from position feedback), 1 (Obtain velocity feedback from servo) 2-2

14 Chapter 2: Feedback Parameters This parameter determines whether the velocity status is calculated from the position feedback, or is obtained directly from the servo as velocity feedback. For most servos, obtaining the velocity feedback directly from the servo is more accurate and is more responsive to changes in velocity. However, some servos are unable to report velocity feedback. To obtain velocity feedback directly from the servo, the Init file for that servo must have object 0x606c, "Velocity Actual Value," mapped to the PDO. 2.3 Positioning Completed Width Default Value: 1000 The width of the window centered at the target position at which the PsetFlag status can be raised. The PsetFlag status is set to 1 when the axis position is within this width from the target position and the command output is completed. 2.4 DPset Delay The number of consecutive cycles that Pset must be 1 for DPset to become 1. When Pset becomes 0, DPset immediately becomes 0, regardless of the value of this parameter. 2-3

15 Chapter 3: Home Parameters Chapter 3: Home Parameters 3.1 Home Type Parameter Default Value: WMX_HOME_CURPOS The method of homing during a home operation. The available choices are as follows: WMX_HOME_CURPOS Home using the CURPOS home type.set the current position as the home position. WMX_HOME_ZP Home using the ZP home type.search for the Z pulse. WMX_HOME_HS Home using the HS home type Search for the home switch. WMX_HOME_HS_HS Home using the HS_HS home type. Search for the home switch. When the home switch is detected, move back the home switch reverse distance, then search for the home switch at the grid search feedrate. WMX_HOME_HS_ZP Home using the HS_ZP home type. Search for the home switch. When the home switch is detected, search for the Z pulse. WMX_HOME_HS_REV_ZP Home using the HS_REV_ZP home type. Search for the home switch. When the home switch is detected, search for the Z-pulse in the direction opposite to the home switch. WMX_HOME_LS_REV_ZP Home using the LS_REV_ZP home type. Search for the on-servohard limit switch in the direction of the Home Direction parameter. When the Home Direction is forward, the positive on-servo hard limit switch is searched. When the Home Direction is backward, the negative on-servo hard limit switch is searched. When the appropriate limit switch is detected, search for the Z pulse in the direction opposite to the limit switch. WMX_HOME_LS_REV_ZP_NEAR Home using the LS_REV_ZP_NEAR home type. Search for the near limit switch in the direction of the Home Direction parameter. When the Home Direction is forward, the positive near limit switch is searched. When the Home Direction is backward, the negative near limit switch is searched. When the appropriate limit switch is detected, search for the Z pulse in the direction opposite to the limit switch. WMX_HOME_LS_REV_ZP_EXT Home using the LS_REV_ZP_EXT home type. Search for the external limit switch in the direction of the Home Direction parameter. When the Home Direction is forward, the positive external limit switch is searched. When the Home Direction is backward, the negative external limit switch is searched. When the appropriate limit switch is detected, search for the Z pulse in the direction opposite to the limit switch. WMX_HOME_HSTP Home using the HSTP home type. Search for a touch probe. WMX_HOME_HS_HSTP Home using the HS_HSTP home type. Search for the home switch. When the home switch is detected, move back the home switch reverse distance, then search for a touch probe at the grid search velocity. WMX_HOME_LS Home using the LS home type. Search for the limit switch. WMX_HOME_LS_NEAR Home using the LS_NEAR home type. Search for the positive or negative near limit switch. WMX_HOME_LS_EXT Home using the LS_EXT home type. Search for the positive or negative external limit switch. See the WMX Function Manual for additional information regarding the available home types Names of Home States in the WMX API The following table summarizes the equivalent home state names in the WMX API. WMX Console Name WMX API Name 3-1

16 Chapter 3: Home Parameters Not Homedand Home Done ZP Search Rev ZP Search Paused(Rev ZP Search) HS Search HS and ZP search Paused (HS and ZP search) LS Search Paused (LS Search) HS Clear Paused (HS Clear) HS Falling Edge Search Paused (HS Falling Edge Search) LS Falling Edge Search Paused(LS Falling Edge Search) HSTP Search Paused (HSTP Search) Second HS Search Paused (Second HS Search) Second HSTP Search Paused (Second HSTP Search) Home Shift Paused (Home Shift) Canceling Homing Other State WMX_HOME_STATE_IDLE WMX_HOME_STATE_ZP_SEARCH WMX_HOME_STATE_ZP_SEARCH_REV WMX_HOME_STATE_ZP_SEARCH_REV_PAUSE WMX_HOME_STATE_HS_SEARCH WMX_HOME_STATE_HS_AND_ZP_SEARCH WMX_HOME_STATE_HS_AND_ZP_SEARCH_PAUSE WMX_HOME_STATE_LS_SEARCH WMX_HOME_STATE_LS_SEARCH_PAUSE WMX_HOME_STATE_HS_CLEAR_REV WMX_HOME_STATE_HS_CLEAR_REV_PAUSE WMX_HOME_STATE_HS_FALLING_EDGE_SEARCH_REV WMX_HOME_STATE_HS_FALLING_EDGE_SEARCH_REV_PAUSE WMX_HOME_STATE_LS_FALLING_EDGE_SEARCH_REV WMX_HOME_STATE_LS_FALLING_EDGE_SEARCH_REV_PAUSE WMX_HOME_STATE_HSTP_SEARCH WMX_HOME_STATE_HSTP_SEARCH_PAUSE WMX_HOME_STATE_SECOND_HS_SEARCH WMX_HOME_STATE_SECOND_HS_SEARCH_PAUSE WMX_HOME_STATE_SECOND_HSTP_SEARCH WMX_HOME_STATE_SECOND_HSTP_SEARCH_PAUSE WMX_HOME_STATE_HOME_SHIFT WMX_HOME_STATE_HOME_SHIFT_PAUSE WMX_HOME_STATE_CANCEL WMX_HOME_STATE_OTHER Table 3-1: WMX API Home States 3-2

17 Chapter 3: Home Parameters 3.2 Home Direction Parameter Allowed Values: WMX_HOME_DIR_NORM (Forward), WMX_HOME_DIR_REV (Backward) Default Value: WMX_HOME_DIR_NORM The direction to search for home during a home operation. The choices are forward and backward. 3.3 Grid Search Velocity Parameter Minimum Value: 1 Default Value: The velocity to use while searching for the home switch, in units of pulses per second.see the WMX Function Manual for additional information regarding how this value is used by each home type. 3.4 Grid Search Acceleration Parameter Minimum Value: 1 Default Value: The acceleration to use while searching for the home switch, in units of pulses per second squared. See the WMX Function Manual for additional information regarding how this value is used by each home type. 3.5 Grid Search Deceleration Parameter Minimum Value: 1 Default Value: The deceleration to use while searching for the home switch, in units of pulses per second squared. See the WMX Function Manual for additional information regarding how this value is used by each home type. 3.6 Home Switch Search Velocity Parameter Minimum Value: 1 Default Value: The velocity to use while rapidly searching for the home switch, in units of pulses per second. See the WMX Function Manual for additional information regarding how this value is used by each home type. 3.7 Home Switch Search Acceleration Parameter Minimum Value: 1 Default Value: The acceleration to use while rapidly searching for the home switch, in units of pulses per second squared. See the WMX Function Manual for additional information regarding how this value is used by each home type. 3-3

18 Chapter 3: Home Parameters 3.8 Home Switch Search Deceleration Parameter Minimum Value: 1 Default Value: The deceleration to use while rapidly searching for the home switch, in units of pulses per second squared. See the WMX Function Manual for additional information regarding how this value is used by each home type. 3.9 Home Switch Reverse Distance Parameter The distance to reverse when the home switch is found, in units of pulses Home Shift Velocity Parameter Minimum Value: 1 Default Value: The velocity to use while moving the home shift distance after the home position is found, in units of pulses per second Home Shift Acceleration Parameter Minimum Value: 1 Default Value: The acceleration to use while moving the home shift distance after the home position is found, in units of pulses per second squared Home Shift Deceleration Parameter Minimum Value: 1 Default Value: The deceleration to use while moving the home shift distance after the home position is found, in units of pulses per second squared Home Shift Distance Minimum Value:

19 Chapter 3: Home Parameters The distance to move after the home position is found, in pulses. A positive value indicates movement in the direction of homing and a negative value indicates movement in the direction opposite to the direction of homing (the direction of homing is determined by the Home Direction parameter). The shifted position becomes the actual home position Home Shift Polarity Allowed Values: 0 (Active Low), 1 (Active High) Default Value: 1 Whether the home switch is active when high or active when low Multiple Z-Pulse Maximum Value: 100 For home types that search for the Z-pulse, the number of Z-pulses to search for before setting the home position. If set to 0 or 1, the home position will be set at the position of the first Z-pulse Multiplier Compensation Allowed Values: 0 (Disabled), 1 (Enabled) Whether to apply an additional compensation offset to the command position after homing. If set to Disabled, the remainder command pulses after dividing the home offset by the Axis Multiplier parameter will remain after homing. If set to Enabled, any extra command pulses smaller than the Axis Multiplier parameter will be cleared after homing Pause Mode Allowed Values: 0 (Disabled), 1 (Enabled) Whether to pause at certain points during homing. While paused, the axis will not move. The axis servo may be turned on or off while paused without canceling the home operation. To continue the homing operation from the paused state, use the ContinueHome() API function or press the Continue button in the Home Operation control window in WMX Console Maximum Home Switch On At Start Reverse Distance For certain home types, the axis will reverse to clear the home switch or touch probe if it is already tripped when homing is started. For these home types, this parameter determines the maximum distance the axis can reverse to clear the home switch of touch probe.if this maximum distance is exceeded, the axis will decelerate to a stop at the 3-5

20 Chapter 3: Home Parameters Home Switch Search Deceleration and abort the home operation.if this parameter is set to 0, there will be no limit to the reverse travel distance. Currently, this parameter is applicable to the HS, HS_HS, HS_ZP, HS_REV_ZP, HSTP, and HS_HSTP home types Maximum Limit Switch Reverse Distance For certain home types, if a limit switch is triggered while searching for the home switch or touch probe, the axis will reverse to clear the limit switch and find the home switch or touch probe in the opposite direction. For these home types, this parameter determines the maximum distance the axis can reverse to clear the limit switch and find the home switch or touch probe in the opposite direction. If this maximum distance is exceeded, the axis will decelerate to a stop at the Home Switch Search Deceleration and abort the home operation. If this parameter is set to 0, there will be no limit to the reverse travel distance. Currently, this parameter is applicable to the HS, HS_HS, HS_ZP, HS_REV_ZP, HSTP, and HS_HSTP home types Z-Pulse Distance Check If set to a non-zero value, whenever a homing procedure that searches for multiple Z-pulses is performed, the distance between successive Z-pulses is checked. If the distance does not equal the distance specified in this parameter, a home error will be generated Gantry Homing Allowed Values: 0 (Disabled), 1 (Enabled) If the master axis is set to enabled (1), homing for synchronized pairs or groups of axes will use the home switches, limit switches, Z-Pulses, and/or touch probes of the master axis and all slave axes. In addition, when Gantry Homing is enabled, each master and slave axes will independently move the home shift distance set for the each axes. If Gantry Homing parameter is disabled (0) on the master axis, only the home switch, limit switch, Z-pulse, and/or touch probe of the master axis will be used, and the slave axes will follow the motion of the master axis throughout the entire homing operation. Slave axes home shift distance parameters will be ignored and their Home Done flags will not be set at the end of homing. See WMX Functions Manual Chapter 1, Section 1.18: Gantry Homing for operation specifics of gantry homing Gantry Homing Single HS Allowed Values: 0 (Disabled), 1 (Enabled) 3-6

21 Chapter 3: Home Parameters If Gantry Homing Single HS is enabled on the master axis when Gantry Homing parameter is also enabled, only the home switch of the Master axis is used during gantry homing, if the home type uses a home switch. If Gantry Homing Single HS is disabled on the master axis when Gantry Homing parameter is enabled, home switches of the Master axis and all slave axes will be used during gantry homing, if the home type uses a home switch. This parameter is only applicable if the Gantry Homing parameter on the Master axis is set to Enabled Gantry Homing Single LS Allowed Values: 0 (Disabled), 1 (Enabled) If Gantry Homing Single LS is enabled on the master axis when Gantry Homing parameter is also enabled, only the limit switch of the master axis will be used during gantry homing, if the home type uses limit switches. If Gantry Homing Single LS is disabled on the Master axis when Gantry Homing parameter is enabled, limit switches of the Master axis and all slave axes are used during gantry homing, if the home type uses limit switches. This parameter is only applicable if the Gantry Homing parameter on the Master axis is set to Enabled Gantry Homing Single ZP Allowed Values: 0 (Disabled), 1 (Enabled) If Gantry Homing Single ZP is enabled on the Master axis when Gantry Homing parameter is also enabled, only the Z-pulse of the Master axis will be used during gantry homing, if the home type uses Z-pulses. If Gantry Homing Single ZP is disabled on the Master axis when Gantry Homing parameter is enabled, then Z- pulses of the Master axis and all slave axes are used during gantry homing, if the home type uses Z-pulses. This parameter is only applicable if the Gantry Homing parameter on the Master axis is set to Enabled Gantry Homing Single HSTP Allowed Values: 0 (Disabled), 1 (Enabled) If Gantry Homing Single HSTP is enabled on the Master axis when Gantry Homing parameter is also enabled, only the touch probe of the Master axis will be used during gantry homing, if the home type uses the touch probe. If Gantry Homing Single HSTP is disabled on the Master axis when Gantry Homing parameter is enabled, then the touch probes of the Master axis and all slave axes are used during gantry homing, if the home type uses the touch probes. This parameter is only applicable if the Gantry Homing parameter on the Master axis is set to Enabled Limit Switch Reverse Type Allowed Values: 0 (Normal), 1 (Type 1) 3-7

22 Chapter 3: Home Parameters If the Limit Switch Reverse Type is set to Type 1, the axis will immediately stop after detecting the limit switch, if the home type uses limit switches. No position commands beyond the position where the limit switch was detected will be sent to the servo. This parameter is for servos that ignore position commands beyond the position where the limit switch was detected. 3-8

23 Chapter 4: Limit Switch Parameters Chapter 4: Limit Switch Parameters! CAUTION Limit switches will not trigger if the axis is traveling in the direction opposite to the limit switch.a positive limit switch will trigger only if the axis is traveling in the positive direction or is not moving. A negative limit switch will trigger only if the axis is traveling in the negative direction or is not moving. 4.1 Limit Switch Type Default Value: WMX_LIMITSWITCH_NONE The behavior of the positive and negative limit switches when triggered. The available choices are as follows: WMX_LIMITSWITCH_NONE Do nothing. Select this setting if the servo handles the limit switch. WMX_LIMITSWITCH_SVO_OFF Immediately turn the servo off. WMX_LIMITSWITCH_DEC_SVO_OFF Decelerate to a stop using the Limit Switch Deceleration, then turn the servo off. WMX_LIMITSWITCH_DEC Decelerate to a stop using the Limit Switch Deceleration. WMX_LIMITSWITCH_SLOW_DEC_SVO_OFF Decelerate to a stop using the Limit Switch Slow Deceleration, then turn the servo off. WMX_LIMITSWITCH_SLOW_DEC Decelerate to a stop using the Limit Switch Slow Deceleration. WMX_LIMITSWITCH_SEPARATE_PLSNLS - Specify the Limit Switch Type separately for the positive limit switch and the negative limit switch. When a limit switch is triggered, further motion in the direction of the limit switch will be canceled. If a positive limit switch is triggered, motion in the positive direction will be canceled. If a negative limit switch is triggered, motion in the negative direction will be canceled. For certain home types, the limit switch type will be ignored and the limit switch will be used in a special homing procedure. 4.2 Positive Limit Switch Type Default Value: WMX_LIMITSWITCH_NONE This parameter determines the limit switch type for the positive limit switch, if the Limit Switch Type parameter is set to WMX_LIMITSWITCH_SEPARATE_PLSNLS. If the Limit Switch Type parameter is set to anything else, this parameter is ignored. 4.3 Negative Limit Switch Type Default Value: WMX_LIMITSWITCH_NONE 4-1

24 Chapter 4: Limit Switch Parameters This parameter determines the limit switch type for the negative limit switch, if the Limit Switch Type parameter is set to WMX_LIMITSWITCH_SEPARATE_PLSNLS. If the Limit Switch Type parameter is set to anything else, this parameter is ignored. 4.4 Limit Switch Polarity Allowed Values: 0 (Active Low), 1 (Active High) Default Value: 1 Whether the positive and negative limit switches are active when high or active when low. 4.5 Near Limit Switch Type Default Value: WMX_LIMITSWITCH_NONE The behavior of the positive and negative near limit switches when triggered. Near limit switches are general purpose limit switches that may be mapped to any I/O input. Functionally, they are identical to external limit switches.see Section 4.1: Limit Switch Type for information regarding the available limit types. 4.6 Positive Near Limit Switch Type Default Value: WMX_LIMITSWITCH_NONE This parameter determines the limit switch type for the positive near limit switch, if the Near Limit Switch Type parameter is set to WMX_LIMITSWITCH_SEPARATE_PLSNLS. If the Near Limit Switch Type parameter is set to anything else, this parameter is ignored. 4.7 Negative Near Limit Switch Type Default Value: WMX_LIMITSWITCH_NONE This parameter determines the limit switch type for the negative near limit switch, if the Near Limit Switch Type parameter is set to WMX_LIMITSWITCH_SEPARATE_PLSNLS. If the Near Limit Switch Type parameter is set to anything else, this parameter is ignored. 4.8 Positive Near Limit Switch Byte Address Maximum Value: 1449 The byte address of the positive near limit switch I/O input. 4.9 Positive Near Limit Switch Bit Address Maximum Value: 7 The bit address of the positive near limit switch I/O input. 4-2

25 Chapter 4: Limit Switch Parameters 4.10 Positive Near Limit Switch Polarity Allowed Values: 0 (Active Low), 1 (Active High) Default Value: 1 Whether the positive near limit switch is active when high or active when low Negative Near Limit Switch Byte Address Maximum Value: 1449 The byte address of the negative near limit switch I/O input Negative Near Limit Switch Bit Address Maximum Value: 7 The bit address of the negative near limit switch I/O input Negative Near Limit Switch Polarity Allowed Values: 0 (Active Low), 1 (Active High) Default Value: 1 Whether the negative near limit switch is active when high or active when low External Limit Switch Type Default Value: WMX_LIMITSWITCH_NONE The behavior of the positive and negative external limit switches when triggered. External limit switches are general purpose limit switches that may be mapped to any I/O input. Functionally, they are identical to near limit switches. See Section 4.1: Limit Switch Type for information regarding the available limit types Positive External Limit Switch Type Default Value: WMX_LIMITSWITCH_NONE This parameter determines the limit switch type for the positive external limit switch, if the External Limit Switch Type parameter is set to WMX_LIMITSWITCH_SEPARATE_PLSNLS. If the External Limit Switch Type parameter is set to anything else, this parameter is ignored Negative External Limit Switch Type Default Value: WMX_LIMITSWITCH_NONE 4-3

26 Chapter 4: Limit Switch Parameters This parameter determines the limit switch type for the negative external limit switch, if the External Limit Switch Type parameter is set to WMX_LIMITSWITCH_SEPARATE_PLSNLS. If the External Limit Switch Type parameter is set to anything else, this parameter is ignored Positive External Limit Switch Byte Address Maximum Value: 1449 The byte address of the positive external limit switch I/O input Positive External Limit Switch Bit Address Maximum Value: 7 The bit address of the positive external limit switch I/O input Positive External Limit Switch Polarity Allowed Values: 0 (Active Low), 1 (Active High) Default Value: 1 Whether the positive external limit switch is active when high or active when low Negative External Limit Switch Byte Address Maximum Value: 1449 The byte address of the negative external limit switch I/O input Negative External Limit Switch Bit Address Maximum Value: 7 The bit address of the negative external limit switch I/O input Negative External Limit Switch Polarity Allowed Values: 0 (Active Low), 1 (Active High) Default Value: 1 Whether the negative external limit switch is active when high or active when low. 4-4

27 Chapter 4: Limit Switch Parameters 4.23 Soft Limit Type Default Value: WMX_LIMITSWITCH_NONE The behavior of the software limits when triggered. Software limits are triggered when an axis reaches thepositive Software Limit or Negative Software Limit positions. Software limits are triggered only when homing has been completed and the home done status is true. See Section 4.1: Limit Switch Type for information regarding the available limit types Positive Software Limit Maximum Value: None The positive position at which the software limit will be triggered. This value must be a positive value or zero. If this value is set to 0, there will be no software limit in the positive direction Negative Software Limit Minimum Value: None Maximum Value: 0 The negative position at which the software limit will be triggered. This value must be a negative value or zero. If this value is set to 0, there will be no software limit in the negative direction Limit Switch Deceleration Minimum Value: 1 Default Value: The deceleration to stop the axis at when the limit switch is triggered for the DEC_SVO_OFF and DEC limit switch types Limit Switch Slow Deceleration Minimum Value: 1 Default Value: The deceleration to stop the axis at when the limit switch is triggered for the SLOW_DEC_SVO_OFF and SLOW_DEC limit switch types All Limit Switch During Homing Allowed Values: 0 (Disabled), 1 (Enabled) 4-5

28 Chapter 4: Limit Switch Parameters If enabled, all limit switches, even those opposite to the direction that the axis is traveling in, are able to be triggered during homing. If disabled, limit switches will only trigger when the axis is traveling in that direction. This parameter is used to prevent accidents caused by reversing the placement of the positive and negative limit switches. This parameter applies only while performing a homing operation. 4-6

29 Chapter 5: Motion Parameters 5.1 Quick Stop Deceleration Minimum Value: 1 Default Value: Chapter 5: Motion Parameters The deceleration to stop the axis at when the axis is stopped using quick stop. The difference between quick stop and regular stop are: Quick stop uses the Quick Stop Deceleration parameter as the deceleration rate. Regular stop uses the deceleration parameter that was specified for the command. Quick stop always uses a trapezoidal motion profile. Regular stop uses the profile that was specified for the command (when stopping home commands, a trapezoidal profile is used). A regular stop can be overridden by a quick stop, but a quick stop cannot be overridden by a regular stop. 5.2 E-Stop Deceleration Minimum Value: 1 Default Value: The deceleration to stop the axis at when the axis is stopped using E-Stop (emergency stop) while the E-Stop Type parameter is set to DEC_STOP. 5.3 Starting Velocity The starting velocity that is used by certain position commands. These position commands do not take the starting velocity as a function argument. See the WMX API Reference Manual for further information. 5.4 End Velocity The end velocity that is used by certain position commands. These position commands do not take the end velocity as a function argument. See the WMX API Reference Manual for further information. 5.5 Minimum Velocity 5-1

30 Chapter 5: Motion Parameters The minimum velocity that the axis may move at during most position commands. The minimum velocity is not applied during interpolation commands. 5.6 Prohibit Overtravel Allowed Values: 0 (Disabled), 1 (Enabled) If disabled, if the axis executes a motion command with an initial velocity that is high enough such that the axis cannot decelerate to a stop before reaching the target position, then the axis will move past the target position, decelerate to a stop, then reverse direction to return to the target position. If enabled, at the execution of the motion command, the axis will suddenly decelerate to a velocity low enough that the axis can decelerate to a stop to reach the target position. 5.7 Linear Interpolation Override Smoothing Percent (%) Maximum Value: 100(%) Default Value: 30(%) When a linear interpolation command overrides another linear interpolation command, the motion between the two linear interpolation commands is smoothed out by this percentage. During the smoothing motion, the commanded axes are not linearly interpolated. The time that the smoothing motion is applied to the override linear interpolation command, will not be greater than this percentage of the total execution time of that command, and the distance that the smoothing motion is applied to the override linear interpolation command will not be greater than this percentage of the total travel distance of that command. If set to 0, the axis will immediately execute the override linear interpolation command, even if it would cause one or more of the interpolated axes to experience sudden acceleration or deceleration. 5.8 Interrupted Interpolation Use Quick Stop Allowed Values: 0 (Disabled), 1 (Enabled) Default Value: 1 If an interpolation is interrupted due to one of the axes triggering a limit switch, reaching the software limit, generating an amp alarm, or for any other reason, the other axes that were executing that interpolation command will decelerate to a stop. This parameter determines the manner at which these other axes decelerate. Axes for which this parameter is set to 1 will ignore the other interpolating axes and will decelerate independently with a trapezoidal profile and a deceleration equal to the "Quick Stop Deceleration" parameter of that axis. Axes for which this parameter is set to 0 will decelerate along the original interpolated path, retaining the composite deceleration that was specified for the original interpolation command. For example, if the X, Y, and Z axes are performing a linear interpolation and the Z axis servo is turned off, the X and Y axes will decelerate to a stop while maintaining interpolation between these two axes. 5-2

31 Chapter 6: Alarm Parameters 6.1 Following Error Stopped Default Value: Chapter 6: Alarm Parameters The maximum difference between the command position and feedback position that can be tolerated while the axis is idle before a following error alarm is triggered. A following error alarm will never be triggered while the axis is idle if this value is set to 0. This parameter only applies to position mode axes. 6.2 Following Error Moving Default Value: The maximum difference between the command position and feedback position that can be tolerated while the axis is executing a command before a following error alarm is triggered. A following error alarm will never be triggered while the axis is executing a command if this value is set to 0. This parameter only applies to position mode axes. 6.3 Following Error Type Default Value: WMX_ALARM_FOLLOWING_ERROR_TYPE_NOACTION This parameter determines whether the following error alarm is enabled, and the action that is performed when the following error alarm is triggered. A following error alarm is triggered whenever the difference between the command position and the feedback position of an axis exceeds the Following Error Stopped or Following Error Moving parameter, depending on whether the axis is currently executing a command or not. The available options are as follows: WMX_ALARM_FOLLOWING_ERROR_TYPE_NOACTION The following error alarm will be disabled and never be triggered. WMX_ALARM_FOLLOWING_ERROR_TYPE_QSTOP The axis will decelerate to a stop at the Quick Stop Deceleration rate when the following error alarm is triggered. Then, the axis will not accept commands until the following error alarm is cleared. This parameter only applies to position mode axes. 6.4 Velocity Following Error Stopped Default Value: The maximum difference between the command velocity and feedback velocity that can be tolerated while the axis is idle before a following error alarm is triggered. A following error alarm will never be triggered while the axis is idle if this value is set to 0. This parameter only applies to velocity mode axes. 6-1

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