AxisType Parameter

Default Value: 0

Minimum Value: 0

Maximum Value: 1

Units: None

Type: int

Use the AxisType parameter to specify an axis as dominant or dependent. This parameter applies only to coordinated motion, such as the MoveLinear(), MoveCw(), and MoveCcw() functions.

Table: AxisType Parameter Settings

Parameter Value	Description
0	Axis is dominant.
1	Axis is dependent.

When you use coordinated motion, you can command dominant and dependent axes at the same time. But you directly control the ramping and vector speed of only the dominant axes. In this condition, the controller moves all dependent axes that are part of the coordinated motion at a speed that lets them get to their target position at the same time as the dominant axes.

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.

Set the MaxSpeedClamp Parameter for each dependent axis to clamp the maximum speed of each axis. Use the DefaultDependentCoordinatedAccelLimit Parameter to limit the maximum acceleration of all dependent axes.

To specify the vector speed for coordinated motion, use the SetupCoordinatedSpeed() and SetupDependentCoordinatedSpeed() functions:

The SetupCoordinatedSpeed() function specifies the vector speed for dominant axes. The controller uses this function when one or more dominant axes are specified in the coordinated motion.
The SetupDependentCoordinatedSpeed() function specifies the vector speed for dependent axes. The controller uses this function only when dominant axes are not specified in the coordinated motion.

The parameters that follow apply only to dominant axes:

The parameters that follow apply only to dependent axes: