Axis

Performs a move to an absolute position Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different..

A selected Axis performs a move for a specified distance relative to the endpoint of the previous move.

Returns the motion bus address of the axis.

Set the additive torque The tendency of a force to rotate an object about an axis. A force is a push or a pull; a torque is a twist. value to the drive In electrical engineering, a drive is an electronic device to provide power to a motor or servo. Control device for regulating the speed, torque and position of a motor. A unit controlling a motor using the current and timing in its coils. output (torque feed-forward This describes an element or pathway within a control system which passes a controlling signal from a source in the control system's external environment, often a command signal from an external operator, to a load elsewhere in its external environment.).

Configures the Fast Input The inputs are taken into account at each cycle depending on the system periodicity (i.e., each millisecond). Under certain circumstances, this can be insufficient when more accuracy is needed or if a quick response is required from the system. To fill the gap, a drive may have some Fast Input connections (generally one or two). When an event happens that triggers a Fast Input (e.g., when a sensor sends a rising edge), the detection of a signal occurs faster. This can be 1000 times more accurate than the system periodicity. The timestamp associated with this input can be provided to the IPC to take corrective action. for the axis by writing the expected settings in the Latch The control word is used to activate the drive's latch status machine. The latch control word is processed independently of the EtherCAT® bus cycle. The status word is used to return the drive's latch status. Control Word.

Returns the reference position of the axis.

Returns the drive number associated with the axis or -1 if the function block A function block groups an algorithm and a set of private data. It has inputs and outputs. failed.

Returns the feedback position of the axis.

Enables Enable signal for the drive, Hardware-Enable with 24V signal to X8, Software-Enable command by setup Software, fieldbus or permanently set. Both are required for enabling the drive. or disables Removal of the ENABLE signal. Disables power stage. the internal TMP Trapezoidal Motion Profile - This pipe block is a source block that frequently serves as a virtual master for a system composed of several pipes. Generally, a trapezoidal motion profile generator is used to generate a flow of values with a first derivative which produces a trapezoidal trajectory. generator of the axis.

Verifies if the internal TMP generator of the axis is enabled.

Verifies if an axis is ready.

Returns the generator position of the axis.

Gets the acceleration A change in velocity over time. Because velocity is a vector, it can change in two ways: a change in magnitude and/or a change in direction. In one dimension, acceleration is the rate at which something speeds up or slows down. However, more generally, acceleration is a vector quantity expressing the change with time of the velocity both in magnitude and in direction. See these Wikipedia articles for more information: http://en.wikipedia.org/wiki/Velocity http://en.wikipedia.org/wiki/Euclidean_vector http://en.wikipedia.org/wiki/Rate_(mathematics) of the internal generator of an axis.

Gets the deceleration of the internal generator of an axis.

Gets the speed Speed is the absolute value of the velocity without direction. of the internal generator of an axis.

Sets the acceleration of the internal generator of an axis.

Sets the deceleration of the internal generator of an axis.

Sets the speed of the internal generator of an axis.

Initializes an axis object.

Verifies if a pipe is currently connected to the axis.

Verifies if the axis received a trigger event.

Jog at the specified speed.

Returns the pipe position of the axis.

Powers up or down the axis.

Enables or disables a Servo or Stepper drive mapped to the axis.

This function has been deprecated.

Allows conversion of drive torque values from rated torque units
(1000 = rated motor An actuator focused to a movement, converting electrical energy in a force or torque. continuous torque) to N.m (Newton meter).

Returns the actual position of the axis.

Read an Axis Boolean property of a Pipe Network Axis.

Gets the feedback units per revolution value of the axis.

Returns the difference between the reference position and the actual position of the drive mapped to the specified axis.

Returns the status of the internal generator of the axis.

Gets the value period Motor systems having a reciprocating or oscillating motor that operates synchronously with the periodicity of the source which supplies the electrical energy. The period of execution of a pipe is the time spent between two successive computations of set values for the same pipe. The period of execution of a pipe is specified by the PERIOD parameter of the input pipe block. of the axis.

Returns the actual torque applied by the drive mapped to the specified axis.

Gets the User units per revolution value of the axis.

Returns the actual velocity For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP of the axis based on the data provided by the drive's feedback device A process where some proportion of the output signal of a system is passed (fed back) to the input. In automation, a device coupled to each motor to provide indication of the motor's shaft angle, for use in commutating the motor and controlling its speed and position. Some systems use a feedback device connected to the motor shaft or part of the driven mechanism to control the direction, acceleration and speed of the motor..

Verifies if an axis is ready.

Realigns the actual position with the reference position by moving the axis by the specified delta position.

A selected Axis performs a move for a specified distance relative to the current position.

Clears errors of the specified axis.

Writes in the Latch Control Word to reset New start of the microprocessor. the Fast Input.

Returns the status of the axis.

Stop with the specified deceleration.
This does NOT remove the input source, but to stop the drive from continuing to move.

Returns the timestamp A sequence of characters, denoting the date and/or time at which a certain event occurred. of the triggered axis.

Write an Axis Boolean property of a Pipe Network Axis.

Sets the value period of the axis.

Forces the pipe position internal value.

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• This function works only when no pipe is connected.

Sets a new value to an axis’ current location.

Set the user units per revolution value of the axis.