Axis Setup Procedure

Introduction

This series of slides will explain how to create and set an axis in the softMC controller. For that you will need:

• Running softMC (either a real, or virtual)
• User interface (Control.Studio)

Step #1: declare axis

In the first line of CONFIG.PRG file write the number of axes that will be in use:

Sys.Naxes = <number>
…
Program
…
End Program

Send this file to MC and run it by issuing these two lines from terminal window:

send config.prg
reset all

Now you have your axes defined, it is easily to check issuing this command from terminal window:

->?axislist
A1,A2,A3,A4,A5,A6,A7,A8,A9,A10,A11,A12,A13,A14,A15,A16,A17

Step#2: Setting user friendly axis name

System default axis name are not very user friendly (a1,a2,a3, …) It is a good practice to rename them into something more meaningful. This is done in CONFIG.PRG file only , assigning to each axis now name (no double quotes sign) to <axis>.AxisName property.

Sys.Naxes = <number>
…
Program
	a1.AxisName = Xaxis
	a2.AxisName = Lift
…
End Program

Step#3: Preparing general axis setup

In order to set-up system axes one need to prepare setup program. Let’s call it SETUP.PRG. It is important to know:

• In order to access (write to) an axis property axis needs to be attached.
• For some of the properties axis needs to be disabled

SETUP.PRG

Program
	Call SetAxis(a1)
	Call SetAxis(a2)	
	…
End Program

Sub SetAxis(ax as generic  axis)
With ax
	Attach
		En = 0
		…
		<stuff goes here>
		…
	Detach
End With
End Sub

Step #4:Position Units definition

<axis>.PositionFactor defines the position units that will be used in all position variables of the specified axis (pcmd, pfb, …) it consist of:

• Motor encoder resolution seen through the motion-bus (See EtherCAT, SERCOS, CanOPEN). How many counts are there in one motor revolution - stored in pos_units global variable (for each axis differently).
• Gear ratio (M:N) and/or the pitch of the linear screw (mm/rev).

• Rotary axes:

For position in degrees PositionFactor is:PFAC = Pos_Units *(M/N)/360

• Linear axes:

For position in milli-meters PositionFactor is:PFAC = Pos_Units)/MPITCH