Version: 1.0.0

In the axis menu, if you select or create a new axis, the configuration options will appear below. These are used to configure the relevant parameters for each axis.

Properties

Name

This is the name that you gave the axis when it was created. This can be edited and changed here. Any changes take effect throughout the software as soon as they are made.

Status

This shows a status code returned from the motor. For a list of possible status codes, see Status and Error States.

Position

This is the current position of the motor. The position is displayed as the current motor position value divided by the unit multiplier. By default the motor has 50,000 pulses per revolution, and the unit multiplier is set to 50,000. This means that by default, the position is displayed in revolutions to five decimal place accuracy.

Enabled

The enabled checkbox will allow you to enable or disable the motor. When checked, the motor is enabled. The box will uncheck itself if the motor disables for any reason. When disabled, the motor position and status will still be reported in real time but the motor will not hold position and will not be able to make a move.

Homing Parameters

Go Home

Send the motor back to the current home, or 0, position.

Find Home

This will instruct the motor to begin a search for the home position. How this search is done will depend on the other homing parameters below.

Homing Direction

Allows you to select either CW (Clockwise) or CCW (Counterclockwise). This is the direction you wish the motor to run to find the home position. The direction is CW or CCW from the perspective of someone looking straight on at the motor shaft.

Homing Type

The homing type can be selected as either: Hardstop, Sensor, Hardstop on powerup, or Sensor on powerup.

If hardstop is selected, the motor will run in the homing direction until the programmed torque % is reached. Once the torque is reached, the motor will then back off to top dead-center of the nearest encoder tooth. This ensures repeatability over multiple home operations. If the hardstop on powerup option is selected, the homing operation will occur as soon as the motor is powered up. Otherwise, you must manually activate the home operation through a software command or programmed motor input.

If sensor is selected, the motor will run in the homing direction until it sees the home input triggered. The position is recorded the instant that the home sensor is triggered, and after decelerating the motor will back off to this position. If the sensor on powerup option is selected, the homing operation will occur as soon as the motor is powered up. Otherwise, you must manually activate the home operation through a software command or programmed motor input.

Torque %

This is the percentage of the motors peak torque required to sense the home when using the home to hardstop option. Valid entries are from 10% to 100% of the motors peak torque.

Offset

The offset is a programmable offset from the sensor or hardstop that you want to be the actual home, or position 0. This can be either a positive or negative offset depending on the direction desired. After the homing sequences described above, the motor will then run to this position and set this as home if there is an offset programmed.

Home Sensor Input

If homing the motor to a sensor, this configures which of the motor inputs is connected to the home sensor.

Home Speed

The speed that you wish the motor to home at. This is read the same way as the position above. By default this will be in revolutions per second, unless the motor resolution or the unit multiplier are changed.

Query Motor

This forces the software to retrieve the current settings for all of the configuration parameters from the motor.

Axis Properties

Unit Multiplier

Maximum Speed

Maximum Torque

Joystick Position Range

Joystick Axis

K39 Filter

Connection

Serial Number

Connections

Connect

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