Service Motion

Service Motion allows you to set up simple motion (Command Source must be set to Mode 0 - Service). It is typically used during initial set up to exercise the system. It can be used to help troubleshoot the system, execute tuning, make repetitive moves for verification of mechanical set up, or for other general simple motion needs. There are multiple ways to set up motion depending on the desired result in torque Torque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist, velocity or position modes. In all modes, you can run a momentary pulse, set up reversing motion, or initiate continuous motion.

The chart below identifies the commands available on the Sevice Motion view:

Button or Dialog Box	Description	Available in OP Mode
Pulse When the step gets activated, the action is activated for a single execution, and possibly once again when the step is deactivated	Alternates between the commanded current or velocity and zero velocity. You can specify the time period between the commanded value and the return to zero. Setting a time to zero will generate a continuous command.	Torque Torque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist, Position, Velocity
Reversing	Alternates between the two commanded values. You can specify the time the command will be held in each state.	Torque, Position, Velocity
Continuous	Runs the commanded current or velocity continuously.	Torque, Position, Velocity
Group	Selects parameter group to be used with service motion. Group 1 selects parameter group for AXIS#.SM.MODE 0, and group 2 selects parameter group for AXIS#.SM.MODE 2.	Torque, Position, Velocity
Current 1/Current 2	Only shows while drive is in Torque mode. Sets the two different currents.	Torque
Velocity 1/Velocity 2	Only shows while drive is in Velocity or Position mode. Sets the two different velocities.	Velocity, Position
Time 1/Time 2	Sets the time for which the different commands are generated. Setting a time to zero generates a continuous command.	Velocity, Position
Start/Stop	Starts and stops the motion.	Torque, Position, Velocity
Acceleration	Sets the acceleration ramp for service motion. This value may not be 0.	Velocity, Position
Deceleration	Sets the deceleration ramp for service motion.	Velocity, Position
Position Feedback	Displays the present position of the motor.	Torque, Position, Velocity
Velocity Feedback	Displays the present velocity of the motor.	Torque, Position, Velocity
Current Feedback	Displays the present current of the motor. Only displays when drive is in Torque mode.	Torque