Motion Topic (Axes Category)
Use the Motion topic to specify the axis type for coordinated motion. You can also specify different configurations for the motion and axes. This topic and its
Type Module
WARNING: The motion of the dominant axes controls the speed and ramping of the dependent axes. This can cause the speed and accelerations of the dependent axes to exceed their programmed values.
The Type module lets you specify an axis as dominant or dependent. This module applies only to coordinated motion, such as the MoveLinear(), MoveCw(), and MoveCcw() functions.
For more information, see Linear Motion. Also, see the AxisType Parameter.
Direction Module
WARNING: Do not change the ReverseMotionDirection parameter during program execution because it will cause unusual motion.
The Direction module lets you reverse the programming direction of an axis relative to its encoder direction.
For more information, see the ReverseMotionDirection Parameter.
Motion Defaults Module
The Motion Defaults module lets you select the default ramp mode, ramp type, axis speed, acceleration
The change in velocity as a function of time., and deceleration rates of the axis. You can also specify the quantity of time over which the controller completes velocity changes and the default s-curve percentage of the axis. These parameters apply to the MoveRapid() function and asynchronous motion functions such as MoveFreerun(), MoveIncremental(), and MoveAbsolute().
For more information, see Acceleration and Deceleration Ramping. Also see the parameters that follow:
- DefaultAxisRampMode Parameter
- DefaultAxisRampType Parameter
- DefaultAxisRampRate Parameter
- DefaultAxisRampTime Parameter
- DefaultAxisSpeed Parameter
- DefaultAxisSCurvePercentage Parameter
In Position Module
The In Position module lets you specify the position error threshold and quantity of time necessary for an axis to be considered “in position”. You can also specify the quantity of time the controller waits to generate an in-position timeout axis fault.
For more information, see Wait for Motion. Also see the parameters that follow:
Calibration Module
The Calibration module lets you compensate for backlash A component of bidirectional repeatability, it is the non-responsiveness of the system load to reversal of input command. error in the mechanical drive system of an axis. You can also smooth sudden changes in the position command and smooth sharp changes in the velocity command.
For more information, see the parameters that follow:
Thresholds Module
The Thresholds module lets you set the maximum permitted distance and speed the controller uses when you jog the axes in Automation1 Studio. You can also specify the maximum permitted speed to which all motion on the axis is limited.
For more information, see the parameters that follow:
Trajectory Module
WARNING: These parameters can introduce errors in the programmed path of coordinated moves because they can change the position of an axis relative to a different axis.
IMPORTANT: These parameters cause the controller to delay the motion trajectory of an axis, but do not delayI/O Functions and More PSO Functions on that axis. To compensate for the motion trajectory delay, use the DriveOutputCommandDelay Parameter to delay I/O functions and PSO functions.
The Trajectory module lets you delay the position, velocity, and acceleration The change in velocity as a function of time. command of an axis. You can also configure and apply Finite Impulse Response (FIR) and Infinite Impulse Response (IIR) filters to the motion trajectory.
For more information, see the parameters that follow:
Joystick Module
The Joystick module lets you set the speed of the axis when it is under joystick control in the low and high-speed ranges.
For more information, see Feedrate Settings. Also see the parameters that follow:
Rollover Module
The Rollover module lets you enable position rollover (modulo) and specify the number of encoder counts at which the position rolls over. You can also specify which axis moves in the direction that has the shortest distance of travel.
For more information, see the parameters that follow:
