Axis

• Sets the Axis Acceleration value.
• See Set the Axis Block Position Units.

• Sets the Axis Deceleration value.
• See Set the Axis Block Position Units.

• When this parameter is set to Yes, and if the Axis is mapped to a AKD2G or a Kollmorgen Essentials Drive, the KAS compiler automatically generates the required CoE Init commands to set the drive User Units same as the Pipe Network Axis.
• The default value for this parameter is Yes.

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• The Use Axis-specified User Units on Drive parameter is only changed through the KAS-IDE GUI.

  See Change a PLCopen Axis.

The available modes are Modulo (TRUE) and No Modulo (FALSE).

Click for details on Modulo or No Modulo axis

Depending on the type of the moving object the axis acts on, you can define the MODULO_POSITION parameter or not.

Modulo

• Moving objects, performing a never ending cyclical motion are called periodic (e.g., printing cylinder, cutting wheel).
• Example: If a user unit = 0.1mm has been chosen, a Modulo Position = 2000 Units could be selected for this transportation system.

Figure 1: Mode - Modulo

No Modulo

• Objects always moving within a certain position range (forward/backwards) can be called linear or range axes (e.g., lift axis, moving tables).
• Example: If a user unit = 0.1mm has been chosen, a position range = 0 to 10,000 Units could be selected for this moving table.

Figure 2: Mode - No Modulo

• The value of the period of a cyclic system expressed in User units.
• The parameter is defined to correctly manage the periodicity (modulo) of the input values.

• The speed value is used to set the constant speed part of the trapezoidal motion profile.
• See Set the Axis Block Position Units.

To divide the current axis into graduations adapted to your project, you must define the unit that is equivalent to one revolution of the physical motor (e.g., 3600 means that you define the user unit to be tenth of a degree).

You can rely on expressions to define values.

Example with Expressions

Gear factor 1:3 and 1000.0 User Units per one gear shaft revolution.

// user units per revolution calculation example
#define DEF_BandGear 3.0 // gearbox ratio
#define DEF_BandUnit 1000.0 // user units for 1 mechanical turn
#define DEF_BandUUperRev DEF_BandUnit/DEF_BandGear

Figure 3: Define Value with Expressions

See Use the Defines List.

• Number of units associated to the Drive for one revolution of the physical motor.
• This is only available when using an imported ENI file.
• This parameter is only configurable through MLAxisInit.

This is the actual position of the underlying axis as reported by the drive.

• It is the sum of the feedback value (Position actual value) returned from the communication link to the drive and any zero-offset due to an MLWritePos function block.
• See either MLAxisWritePipPos or MLAxisWritePos.

ActualPos := FeedbackPos + ZeroOffset

• This is the current position the drive reports for an axis, scaled to user units.
• It does not take into account the value of the Zero Offset or axis modulo.

This is the summation of all previous commands (i.e., calls to functions which perform motion) to the Axis internal motion generator.

See either such as MLAxisAbs, MLAxisMoveVel, or MLAxisRel.

• It is modified by MLAxisWritePos to insure no jumps in the Reference Position command.
• It accumulates changes in pipe position due to activate and deactivation of the pipe the Axis block is associated with.

• This is the output of the convertor block is written into the Pipe Position value whenever the Convertor block is connected to the axis and the pipe is active.
• See Convertor.

• This is the commanded axis position sent to the drive.
• It is the summation of Pipe Position and Generator Position.
• ReferencePosition = Pipe Position + Generator Position