WMX2 Parameter Manual

WMX2 Parameter Manual Revision 2.0030 2016 Soft Servo Systems, Inc.

Warning / Important Notice Warning The product described herein has the potential through misuse, inattention, or lack of understanding to create conditions that could result in personal injury, damage to equipment, or damage to the product(s) described herein. Machinery in motion and high-power, high-current servo drives can be dangerous; potentially hazardous situations such as runaway motors could result in death; burning or other serious personal injury to personnel; damage to equipment or machinery; or economic loss if procedures aren t followed properly. Soft Servo Systems, Inc. assumes no liability for any personal injury, property damage, losses or claims arising from misapplication of its products. In no event shall Soft Servo Systems, Inc. or its suppliers be liable to you or any other person for any incidental collateral, special or consequential damages to machines or products, including without limitation, property damage, damages for loss of profits, loss of customers, loss of goodwill, work stoppage, data loss, computer failure or malfunction claims by any party other than you, or any and all similar damages or loss even if Soft Servo Systems, Inc., its suppliers, or its agent has been advised of the possibility of such damages. It is therefore necessary for any and all personnel involved in the installation, maintenance, or use of these products to thoroughly read this manual and related manuals and understand their contents. Soft Servo Systems, Inc. stands ready to answer any questions or clarify any confusion related to these products in as timely a manner as possible. The selection and application of Soft Servo Systems, Inc. s products remain the responsibility of the equipment designer or end user. Soft Servo Systems, Inc. accepts no responsibility for the way its controls are incorporated into a machine tool or factory automation setting. Any documentation and warnings provided by Soft Servo Systems, Inc. must be promptly provided to any end users. This document is based on information that was available at the time of publication. All efforts have been made to ensure that this document is accurate and complete. However, due to the widely varying uses of this product, and the variety of software and hardware configurations possible in connection with these uses, the information contained in this manual does not purport to cover every possible situation, contingency or variation in hardware or software configuration that could possibly arise in connection with the installation, maintenance, and use of the products described herein. Soft Servo Systems, Inc. assumes no obligations of notice to holders of this document with respect to changes subsequently made. Under no circumstances will Soft Servo Systems, Inc. be liable for any damages or injuries resulting from any defect or omission in this manual. Soft Servo Systems, Inc. makes no representation or warranty, expressed, implied, or statutory with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or usefulness of the information contained herein. NO IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS OF PURPOSE SHALL APPLY. i

Warning / Important Notice Important Notice The information contained in this manual is intended to be used only for the purposes agreed upon in the related contract with Soft Servo Systems, Inc. All material contained herein is subject to restricted rights and restrictions set forth in the contract between the parties. These manuals contain confidential and proprietary information that is not to be shared with, nor distributed to, third parties by any means without the prior express, written permission of Soft Servo Systems, Inc. No materials contained herein are to be duplicated or reproduced in whole or in part without the express, written permission of Soft Servo Systems, Inc. Although every effort and precaution has been taken in preparing this manual, the information contained herein is subject to change without notice. This is because Soft Servo Systems, Inc. is constantly striving to improve its products. Soft Servo Systems, Inc. assumes no responsibility for errors or omissions. All rights reserved. Any violations of contractual agreements pertaining to the materials herein will be prosecuted to the full extent of the law. ii

Revision Version Revision Version 1.0 Manual Created. 2.0001 Removed Use Velocity Offset sync parameter and added Sync Compensation Mode sync parameter. 2.0002 Mechanical End Detection home types related parameters added. 2.0029 Updated positive and negative soft limit. 2.0030 Updated company logo image iii

Contents Table of Contents Warning... i Important Notice... ii Revision Version... iii Table of Contents... iv List of Figures... vi Chapter 1: WMX2 API Parameters... 1-1 Chapter 2: Feedback Parameters... 2-1 2.1 In Position Width Parameter... 2-1 2.1.1 In Position State for Idle Axes... 2-1 2.1.2 In Position State for Axes Executing Position Commands... 2-1 2.1.3 In Position State for Axes Executing Interpolation Commands... 2-1 2.1.4 In Position State for Axes Executing Other Commands... 2-1 2.1.5 In Position State for Sync Axes... 2-1 2.1.6 In Position State for Single Turn Axes... 2-2 2.2 Velocity Monitor Source... 2-3 2.3 Positioning Completed Width... 2-3 2.4 Delayed Position Set Positioning Completed Width... 2-3 2.5 Delayed Position Set Time... 2-3 Chapter 3: Home Parameters... 3-1 3.1 Home Type Parameter... 3-1 3.1.1 Names of Home States in the WMX2 API... 3-2 3.2 Home Direction Parameter... 3-3 3.3 Homing Velocity Slow Parameter... 3-3 3.4 Homing Velocity Slow Acceleration Parameter... 3-3 3.5 Homing Velocity Slow Deceleration Parameter... 3-3 3.6 Homing Velocity Fast Parameter... 3-3 3.7 Homing Velocity Fast Acceleration Parameter... 3-3 3.8 Homing Velocity Fast Deceleration Parameter... 3-4 3.9 Home Reverse Distance Parameter... 3-4 3.10 Home Shift Velocity Parameter... 3-4 3.11 Home Shift Acceleration Parameter... 3-4 3.12 Home Shift Deceleration Parameter... 3-4 3.13 Home Shift Distance... 3-4 3.14 Home Shift Logic... 3-5 3.15 Multiple Index Pulse... 3-5 3.16 Multiplier Compensation... 3-5 3.17 Pause Mode... 3-5 3.18 Maximum Home Switch On At Start Reverse Distance... 3-5 3.19 Maximum Limit Switch Reverse Distance... 3-6 3.20 Index Pulse Distance Check... 3-6 3.21 Mechanical End Detection Homing Position Difference... 3-6 3.22 Mechanical End Detection Homing Time... 3-6 3.23 Mechanical End Detection Ignore Limit Switch... 3-7 3.24 Gantry Homing... 3-7 3.24.1 Gantry Homing Single HS... 3-7 3.24.2 Gantry Homing Single LS... 3-7 3.24.3 Gantry Homing Single Index Pulse... 3-8 3.24.4 Gantry Homing Single HSTP... 3-8 3.25 Limit Switch Reverse Type... 3-8 Chapter 4: Limit Switch Parameters... 4-1 4.1 Limit Switch Type... 4-1 4.2 Positive Limit Switch Type... 4-1 4.3 Negative Limit Switch Type... 4-1 iv

Contents 4.4 Limit Switch Polarity... 4-2 4.5 Near Limit Switch Type... 4-2 4.6 Positive Near Limit Switch Type... 4-2 4.7 Negative Near Limit Switch Type... 4-2 4.8 Positive Near Limit Switch Byte Address... 4-2 4.9 Positive Near Limit Switch Bit Address... 4-2 4.10 Positive Near Limit Switch Logic... 4-3 4.11 Negative Near Limit Switch Byte Address... 4-3 4.12 Negative Near Limit Switch Bit Address... 4-3 4.13 Negative Near Limit Switch Logic... 4-3 4.14 External Limit Switch Type... 4-3 4.15 Positive External Limit Switch Type... 4-3 4.16 Negative External Limit Switch Type... 4-4 4.17 Positive External Limit Switch Byte Address... 4-4 4.18 Positive External Limit Switch Bit Address... 4-4 4.19 Positive External Limit Switch Logic... 4-4 4.20 Negative External Limit Switch Byte Address... 4-4 4.21 Negative External Limit Switch Bit Address... 4-4 4.22 Negative External Limit Switch Logic... 4-4 4.23 Soft Limit Type... 4-5 4.24 Positive Software Limit... 4-5 4.25 Negative Software Limit... 4-5 4.26 Limit Switch Deceleration... 4-5 4.27 Limit Switch Slow Deceleration... 4-6 4.28 All Limit Switch During Homing... 4-6 Chapter 5: Motion Parameters... 5-1 5.1 Quick Stop Deceleration... 5-1 5.2 E-Stop Deceleration... 5-1 5.3 Starting Velocity... 5-1 5.4 End Velocity... 5-1 5.5 Minimum Velocity... 5-1 5.6 Prohibit Overtravel... 5-2 5.7 Linear Interpolation Override Smoothing Percent... 5-2 5.8 Interrupted Interpolation Use Quick Stop... 5-2 Chapter 6: Alarm Parameters... 6-1 6.1 Following Error Stopped... 6-1 6.2 Following Error Moving... 6-1 6.3 Following Error Type... 6-1 6.4 Velocity Following Error Stopped... 6-1 6.5 Velocity Following Error Stopped Time... 6-2 6.6 Velocity Following Error Moving... 6-2 6.7 Velocity Following Error Moving Time... 6-2 6.8 Velocity Following Error Type... 6-2 6.9 Servo Off During Amp Alarm... 6-3 Chapter 7: Sync Parameters... 7-1 7.1 In Sync Width... 7-1 7.2 Sync Gain... 7-1 7.3 Sync Compensation Mode... 7-1 7.4 Master Desync Type... 7-1 7.5 Master Desync Deceleration... 7-2 7.6 Slave Desync Type... 7-2 7.7 Slave Desync Deceleration... 7-2 7.8 Match Position... 7-2 Chapter 8: Flight Recorder Param... 8-1 8.1 Enable Flight Recorder... 8-1 8.2 Flight Recorder Time Stamp... 8-1 v

Contents 8.3 Save Flight Recorder... 8-1 Chapter 9: Axis Parameters... 9-1 9.1 Axis Command Mode... 9-1 9.2 Gear Ratio Numerator... 9-1 9.3 Gear Ratio Denominator... 9-2 9.4 Single Turn Mode... 9-2 9.4.1 Positioning Commands for Single Turn Axes... 9-2 9.5 Single Turn Encoder Count... 9-3 9.6 Maximum Torque Limit... 9-3 9.7 Positive Torque Limit... 9-4 9.8 Negative Torque Limit... 9-4 9.9 Axis Multiplier... 9-4 9.10 Axis Unit... 9-5 9.11 Open Loop Mode... 9-5 List of Figures Table 1-1: Parameter Name Mapping... 1-5 Table 3-1: WMX2 API Home States... 3-2 vi

Chapter 1: WMX2 API Parameters WMX2 PARAMETER MANUAL Chapter 1: WMX2 API Parameters The parameters that are available in the WMX2 API are summarized in the following table. Parameter Type Parameter Name Units Corresponding Variable Name in SDK In Position Width [pulse] inposwidth In Position Width2 (Up to 5) [pulse] inposwidth2 (Up to 5) Feedback Parameters Velocity Monitor Source 0/1 velocitymonitorsource Position Completed Width DPset Position Completed Width Delayed Position Set Time [pulse] [pulse] poscompletedwidth delayedpossetposcompleted Width 0/1 delayedpossettime Home Type HomeType::T hometype Home Direction HomeDirection::T HomeDirection Homing Velocity Slow [pulse/s] homingvelocityslow Homing Velocity Slow Acceleration Homing Velocity Slow Deceleration [pulse/s^2] [pulse/s^2] homingvelocityslowacc homingvelocityslowdec Homing Velocity Fast [pulse/s] homingvelocityfast Homing Velocity Fast Acceleration [pulse/s^2] homingvelocityfastacc Homing Parameters Homing Velocity Fast Deceleration [pulse/s^2] homingvelocityfastdec Home Reverse Distance [pulse] homingreversedistance Home Shift Velocity [pulse/s] homeshiftvelocity Home Shift Acceleration [pulse/s^2] homeshiftacc Home Shift Deceleration [pulse/s^2] homeshiftdec Home Shift Distance [pulse] homeshiftdistance Home Switch Logic 0/1 hslogic Multiple Index Pulse 0-100 multipleindexpulse Multiplier Compensation 0/1 multipliercompensation 1-1

Chapter 1: WMX2 API Parameters Pause Mode 0/1 pausemode Max Home Switch On At Start Reverse Distance Max Limit Switch Reverse Distance Index Pulse Distance Check [pulse] [pulse] [pulse] maxhsonatstartreversedist ance maxlsreversedistance indexpulsedistancecheck Gantry Homing 0/1 gantryhoming Gantry Homing Single Home Switch Gantry Homing Single Limit Switch Gantry Homing Single Index Pulse Gantry Homing Single Home Switch Touch Probe Limit Switch Reverse Type 0/1 gantryhomingsinglehs 0/1 gantryhomingsinglels 0/1 0/1 gantryhomingsingleindexpul se gantryhomingsinglehstouch Probe 0/1 lsreversetype Limit Switch Type LimitSwitchType::T lstype Positive Limit Switch Type Negative Limit Switch Type LimitSwitchType::T LimitSwitchType::T positivelstype negativelstype Limit Switch Polarity 0/1 lslogic Near Limit Switch Type LimitSwitchType::T nearlstype Limit Switch Parameters Positive Near Limit Switch Type Negative Near Limit Switch Type Positive Near Limit Switch Byte Address Positive Near Limit Switch Bit Address Positive Near Limit Switch Logic Negative Near Limit Switch Byte Address Negative Near Limit Switch Bit Address LimitSwitchType::T nearpositivelstype LimitSwitchType::T nearnegativelstype 0 MAX_IOINSIZE nearpositivelsbyte 0 MAX_IOINSIZE nearpositivelsbit 0/1 nearpositivelslogic 0 MAX_IOINSIZE nearnegativelsbyte 0 MAX_IOINSIZE nearnegativelsbit 1-2

Chapter 1: WMX2 API Parameters Negative Near Limit Switch Logic 0/1 nearnegativelslogic External Limit Switch Type Positive External Limit Switch Type Negative External Limit Switch Type LimitSwitchType::T LimitSwitchType::T LimitSwitchType::T externallstype externalpositivelstype externalnegativelstype Positive External Limit Switch Byte Address Positive External Limit Switch Bit Address Positive External Limit Switch Logic Negative External Limit Switch Byte Address Negative External Limit Switch Bit Address Negative External Limit Switch Logic 0 MAX_IOINSIZE externalpositivelsbyte 0 MAX_IOINSIZE externalpositivelsbit 0/1 externalpositivelslogic 0 MAX_IOINSIZE externalnegativelsbyte 0 MAX_IOINSIZE externalnegativelsbit 0/1 externalnegativelslogic Soft Limit Type LimitSwitchType::T softlimittype Positive Soft Limit Type LimitSwitchType::T positivesoftlimittype Negative Soft Limit Type LimitSwitchType::T negativesoftlimittype Positive Software Limit [pulse] softlimitpositivepos Negative Software Limit [pulse] softlimitnegativepos Limit Switch Deceleration [pulse/s^2] lsdec Limit Switch Slow Deceleration [pulse/s^2] lsslowdec All Limit Switch During Homing 0/1 alllsduringhoming Quick Stop Deceleration [pulse/s^2] quickstopdec E-Stop Deceleration [pulse/s^2] estopdec Motion Parameters Starting Velocity [pulse/s] startingvelocity End Velocity [pulse/s] endvelocity Minimum Velocity [pulse/s] minvelocity Prohibit Overtravel 0/1 prohibitovertravel 1-3

Chapter 1: WMX2 API Parameters Linear Interpolation Override Smoothing Percent [pulse] linearintploverridesmoothper cent Interrupted Interpolation Use Quick Stop 0/1 interruptedintplusequickstop Following Error Stopped [pulse] followingerrorstopped Following Error Moving [pulse] followingerrormoving Following Error Type FollowingErrorAlarmType::T followingerrortype Alarm Parameters Velocity Following Error Stopped Velocity Following Error Stopped Time Velocity Following Error Moving Velocity Following Error Moving Time Velocity Following Error Type Servo Off During Amp Alarm [pulse/s] [s] [pulse/s] [s] VelocityFollowingErrorAlarm Type::T velocityfollowingerrorstoppe d velocityfollowingerrorstoppe dtime velocityfollowingerrormoving velocityfollowingerrormoving Time velocityfollowingerrortype 0/1 servooffduringampalarm Axis Command Mode AxisCommandMode::T axiscommandmode Gear Ratio Numerator [Pulse] gearrationumerator Gear Ratio Denominator [Pulse] gearratiodenominator Single Turn Mode 0/1 singleturnmode Axis Parameters Single Turn Encoder Count [Pulse] singleturnencodercount Maximum Torque Limit [pulse] maxtrqlimit Negative Torque Limit [pulse] negativetrqlimit Axis Multiplier [pulse] axismultiplier Axis Unit [pulse] AxisUnit Open Loop Mode 0/1 OpenLoopMode Sync Parameters In Sync Width [pulse] insyncwidth 1-4

Chapter 1: WMX2 API Parameters Sync Gain [1/s] syncgain Sync Compensation Mode SyncCompensationMode::T synccompensationmode Master Desync Type MasterDesyncType::T masterdesynctype Master Desync Deceleration [pulse/s^2] masterdesyncdec Slave Desync Type SlaveDesyncType::T slavedesynctype Slave Desync Deceleration [pulse/s^2] slavedesyncdec Match Position 0/1 matchpos Enable Flight Recorder 0/1 enableflightrecorder Flight Recorder Param Flight Recorder Time Stamp Enable Flight Recorder Channel 0/1 flightrecordertimestamp 0/1 enableflightrecorderchannel Table 1-1: Parameter Name Mapping 1-5

Chapter 2: Feedback Parameters 2.1 In Position Width Parameter Default Value: 1000 Chapter 2: Feedback Parameters The width of the window centered at the commanded position. When the actual position falls into this window, the axis is considered to be in position. The units are encoder counts. The "In Position Width 2," "In Position Width 3," "In Position Width 4," and "In Position Width 5" parameters determine the in position width of the "In Position 2," "In Position 3," "In Position 4," and "In Position 5" statuses. The in-position state is determined differently while executing different commands, as explained in the following sections. 2.1.1 In Position State for Idle Axes An axis that is idle will be in position if the absolute difference between the feedback position and the cyclic command position is within the in position width. 2.1.2 In Position State for Axes Executing Position Commands An axis that is executing an absolute or relative position command will be in position if the absolute difference between the feedback position and the target position of the position command is within the in position width. 2.1.3 In Position State for Axes Executing Interpolation Commands An axis that is executing a linear interpolation command will be in position if the absolute difference between the cyclic command position and the target position of the interpolation command for that axis is within the in position width. The feedback positions from the interpolating axes are not considered when calculating the in position state. An axis that is executing a circular interpolation command will be in position if the arc length between the current position on the interpolation arc and the target position on the interpolation arc is within the in position width. The feedback positions from the interpolating axes are not considered when calculating the in position state. 2.1.4 In Position State for Axes Executing Other Commands An axis that is executing any other command, including home commands, jog commands, and stop commands, will not be considered to be in position until the command is finished and the axis becomes idle. 2.1.5 In Position State for Sync Axes A sync slave axis whose master axis is executing a position command will be in position if the absolute difference between the feedback position of the slave axis and the target position of the position command, shifted by the sync offset between the master axis and the slave axis when synchronous control was established, is within the in position width of the slave axis. 2-1

Chapter 2: Feedback Parameters A sync slave axis whose master axis is idle will be in position if the absolute difference between the feedback position of the slave axis and the cyclic command position of the slave axis is within the in position width. A sync slave axis whose master is executing any other command, including jog commands and stop commands, or whose master is a sync slave axis of another axis, will not be considered to be in position. 2.1.6 In Position State for Single Turn Axes A single turn axis that is idle will be in position if the absolute difference between the feedback position and the cyclic command position is within the in position width. Wraparound around the single turn encoder count range is considered when calculating the in position width while the axis is idle. For example, if the single turn encoder count is 1000 pulses, the in position width is 100 pulses, and the cyclic command position is 0, the axis will be in position if the feedback position is between 900-999 or between 0-100. A single turn axis that is executing a position command will be in position if the absolute difference between the feedback position and the target position of the position command is within the in position width. If the distance commanded by the position command causes the axis to move more than one single turn encoder count, the axis will be considered to be in position each time it moves past the target position. For example, if the single turn encoder count is 1000 pulses, and a relative position command of 5000 pulses is executed, the axis will wrap around the single turn range five times. Each time the axis passes the target position, the axis will be in position as long as the distance between the feedback position and the target position is within the in position width. Wraparound around the single turn encoder count range is considered when calculating the in position width during the execution of a position command. For example, if the single turn encoder count is 1000 pulses, the in position width is 200 pulses, and a relative position command of 1100 pulses is executed when the axis is at 0 position, the in axis will be in position at positions 900 to 999 and 0 to 100. A single turn axis that is executing a linear interpolation command will be in position if the absolute difference between the cyclic command position and the target position of the interpolation command for that axis is within the in position width. The feedback positions from the interpolating axes are not considered when calculating the in position state. Wraparound around the single turn encoder count range is NOT considered when calculating the in position width during the execution of a linear interpolation command. A single turn axis that is executing a circular interpolation command will be in position if the arc length between the current position on the interpolation arc and the target position on the interpolation arc is within the in position width. The feedback positions from the interpolating axes are not considered when calculating the in position state. Wraparound around the single turn encoder count range is NOT considered when calculating the in position width during the execution of a circular interpolation command. A single turn axis that is executing any other command, including home commands, jog commands, and stop commands, will not be considered to be in position until the command is finished and the axis becomes idle. 2-2

Chapter 2: Feedback Parameters 2.2 Velocity Monitor Source Allowed Values: 0 (Calculate from position feedback), 1 (Obtain velocity feedback from servo) This parameter determines whether the velocity status is calculated from the position feedback, or is obtained directly from the servo as velocity feedback. For most servos, obtaining the velocity feedback directly from the servo is more accurate and is more responsive to changes in velocity. However, some servos are unable to report velocity feedback. To obtain velocity feedback directly from the servo, the Init file for that servo must have object 0x606c, "Velocity Actual Value," mapped to the PDO. 2.3 Positioning Completed Width Default Value: 1000 The width of the window centered at the target position at which the PsetFlag status can be raised. The PsetFlag status is set to 1 when the axis position is within this width from the target position and the command output is completed. 2.4 Delayed Position Set Positioning Completed Width Default Value: 1000 The width of the window centered at the target position at which the DPsetFlag status can be raised. The DPsetFlag status is set to 1 when the axis position is within this width from the target position and the command output is completed for the amount of time specified in the Delayed Position Set Time parameter. 2.5 Delayed Position Set Time The number of consecutive cycles that Pset must be 1 for DPset to become 1. When Pset becomes 0, DPset immediately becomes 0, regardless of the value of this parameter. 2-3

Chapter 3: Home Parameters Chapter 3: Home Parameters 3.1 Home Type Parameter Default Value: HomeType::CurrentPos The method of homing during a home operation. The available choices are as follows: HomeType::CurrentPos Set the current position as the home position. HomeType::IndexPulse Search for the Index pulse. HomeType::HS Search for the home switch. HomeType::HSHS Search for the home switch. When the home switch is detected, move back the home switch reverse distance, then search for the home switch at the grid search feedrate. HomeType::HSIndexPulse Search for the home switch. When the home switch is detected, search for the Index pulse. HomeType::HSReverseIndexPulse Search for the home switch. When the home switch is detected, search for the Z-pulse in the direction opposite to the home switch. HomeType::LSReverseIndexPulse Search for the on-servo hard limit switch in the direction of the Home Direction parameter. When the Home Direction is forward, the positive on-servo hard limit switch is searched. When the Home Direction is backward, the negative on-servo hard limit switch is searched. When the appropriate limit switch is detected, search for the Index pulse in the direction opposite to the limit switch. HomeType::NearLSReverseIndexPulse Search for the near limit switch in the direction of the Home Direction parameter. When the Home Direction is forward, the positive near limit switch is searched. When the Home Direction is backward, the negative near limit switch is searched. When the appropriate limit switch is detected, search for the Index pulse in the direction opposite to the limit switch. HomeType::ExternalLSReverseIndexPulse Search for the external limit switch in the direction of the Home Direction parameter. When the Home Direction is forward, the positive external limit switch is searched. When the Home Direction is backward, the negative external limit switch is searched. When the appropriate limit switch is detected, search for the Index pulse in the direction opposite to the limit switch. HomeType::HSTouchProbe Search for a touch probe. HomeType::HSHSTouchProbe Search for the home switch. When the home switch is detected, move back the home switch reverse distance, then search for a touch probe at the grid search velocity. HomeType::LS Search for the limit switch. HomeType::NearLS Search for the positive or negative near limit switch. HomeType::ExternalLS Search for the positive or negative external limit switch. HomeType::MechanicalEndDetection Search for mechanical end. Home position is determined where the difference between command position and feedback position exceeds a specified amount for a specified amount of time. HomeType::MechanicalEndDetectionHS Search for home switch. While home switch is on, a count is started when the difference between command position and feedback position exceeds a specified amount. Count is reset when home switch is off, or the difference falls below the specified amount. HomeType::MechanicalEndDetectionLS Search for hard limit switch. While the limit switch in the direction of home is on, a count is started when the difference between command position and feedback position exceeds a specified amount. Count is reset when limit switch is off, or difference falls below the specified amount. While using this home type, LS in the direction of home will not execute the usual limit switch actions (servo off, deceleration stop). See the WMX2 Function Manual for additional information regarding the available home types. 3-1

Chapter 3: Home Parameters 3.1.1 Names of Home States in the WMX2 API The following table summarizes the equivalent home state names in the WMX2 API. WMX2 Console Name Not Homed and Home Done Index Pulse Search Rev Index Pulse Search Paused(Rev Index Pulse Search) HS Search Paused (HS Search) HS and Index Pulse search Paused (HS and Index Pulse search) LS Search Paused (LS Search) HS Clear Paused (HS Clear) HS Falling Edge Search Paused (HS Falling Edge Search) LS Falling Edge Search Paused(LS Falling Edge Search) HSTP Search Paused (HSTP Search) Second HS Search Paused (Second HS Search) Second HSTP Search Paused (Second HSTP Search) Home Shift Paused (Home Shift) Canceling Homing Other State WMX2 API Name HomeState::Idle HomeState::IndexPulseSearch HomeState::IndexPulseSearchReverse HomeState::IndexPulseSearchPauseReverse HomeState::HSSearch HomeState::HSSearchPause HomeState::HSAndIndexPulseSearch HomeState::HSAndIndexPulseSearchPause HomeState::LSSearch HomeState::LSSearchPause HomeState::HSClearReverse HomeState::HSClearReversePause HomeState::HSFallingEdgeSearchReverse HomeState::HSFallingEdgeSearchReversePause HomeState::LSFallingEdgeSearchReverse HomeState::LSFallingEdgeSearchReversePause HomeState::HSTouchProbeSearch HomeState::HSTouchProbeSearchPause HomeState::SecondHSSearch HomeState::SecondHSSearchPause HomeState::SecondHSTouchProbeSearch HomeState::SecondHSTouchProbeSearchPause HomeState::HomeShift HomeState::HomeShiftPause HomeState::Cancel HomeState::Other Table 3-1: WMX2 API Home States 3-2

Chapter 3: Home Parameters 3.2 Home Direction Parameter Allowed Values: HomeDirection::Normal (Forward), HomeDirection::Reverse (Backward) Default Value: HomeDirection::Normal The direction to search for home during a home operation. The choices are forward and backward. 3.3 Homing Velocity Slow Parameter Minimum Value: 1 Default Value: 10000 The velocity to use while searching for the home switch, in units of pulses per second. See the WMX2 Function Manual for additional information regarding how this value is used by each home type. 3.4 Homing Velocity Slow Acceleration Parameter Minimum Value: 1 Default Value: 10000 The acceleration to use while searching for the home switch, in units of pulses per second squared. See the WMX2 Function Manual for additional information regarding how this value is used by each home type. 3.5 Homing Velocity Slow Deceleration Parameter Minimum Value: 1 Default Value: 10000 The deceleration to use while searching for the home switch, in units of pulses per second squared. See the WMX2 Function Manual for additional information regarding how this value is used by each home type. 3.6 Homing Velocity Fast Parameter Minimum Value: 1 Default Value: 10000 The velocity to use while rapidly searching for the home switch, in units of pulses per second. See the WMX2 Function Manual for additional information regarding how this value is used by each home type. 3.7 Homing Velocity Fast Acceleration Parameter Minimum Value: 1 Default Value: 10000 The acceleration to use while rapidly searching for the home switch, in units of pulses per second squared. See the WMX2 Function Manual for additional information regarding how this value is used by each home type. 3-3

Chapter 3: Home Parameters 3.8 Homing Velocity Fast Deceleration Parameter Minimum Value: 1 Default Value: 10000 The deceleration to use while rapidly searching for the home switch, in units of pulses per second squared. See the WMX2 Function Manual for additional information regarding how this value is used by each home type. 3.9 Home Reverse Distance Parameter The distance to reverse when the home switch is found, in units of pulses. 3.10 Home Shift Velocity Parameter Minimum Value: 1 Default Value: 10000 The velocity to use while moving the home shift distance after the home position is found, in units of pulses per second. 3.11 Home Shift Acceleration Parameter Minimum Value: 1 Default Value: 10000 The acceleration to use while moving the home shift distance after the home position is found, in units of pulses per second squared. 3.12 Home Shift Deceleration Parameter Minimum Value: 1 Default Value: 10000 The deceleration to use while moving the home shift distance after the home position is found, in units of pulses per second squared. 3.13 Home Shift Distance Minimum Value: -2147483647 3-4

Chapter 3: Home Parameters The distance to move after the home position is found, in pulses. A positive value indicates movement in the direction of homing and a negative value indicates movement in the direction opposite to the direction of homing (the direction of homing is determined by the Home Direction parameter). The shifted position becomes the actual home position. 3.14 Home Shift Logic Allowed Values: 0 (Active Low), 1 (Active High) Default Value: 1 Whether the home switch is active when high or active when low. 3.15 Multiple Index Pulse Maximum Value: 100 For home types that search for the Z-pulse, the number of Index Pulse to search for before setting the home position. If set to 0 or 1, the home position will be set at the position of the first Z-pulse. 3.16 Multiplier Compensation Allowed Values: 0 (Disabled), 1 (Enabled) Whether to apply an additional compensation offset to the command position after homing. If set to Disabled, the remainder command pulses after dividing the home offset by the Axis Multiplier parameter will remain after homing. If set to Enabled, any extra command pulses smaller than the Axis Multiplier parameter will be cleared after homing. 3.17 Pause Mode Allowed Values: 0 (Disabled), 1 (Enabled) Whether to pause at certain points during homing. While paused, the axis will not move. The axis servo may be turned on or off while paused without canceling the home operation. To continue the homing operation from the paused state, use the ContinueHome() API function or press the Continue button in the Home Operation control window in WMX2 Console. 3.18 Maximum Home Switch On At Start Reverse Distance For certain home types, the axis will reverse to clear the home switch or touch probe if it is already tripped when homing is started. For these home types, this parameter determines the maximum distance the axis can reverse to clear the home switch of touch probe. If this maximum distance is exceeded, the axis will decelerate to a stop at the 3-5

Chapter 3: Home Parameters Home Switch Search Deceleration and abort the home operation.if this parameter is set to 0, there will be no limit to the reverse travel distance. Currently, this parameter is applicable to the HS, HS_HS, HS_Index Pulse, HS_REV_Index Pulse, HSTP, and HS_HSTP home types. 3.19 Maximum Limit Switch Reverse Distance For certain home types, if a limit switch is triggered while searching for the home switch or touch probe, the axis will reverse to clear the limit switch and find the home switch or touch probe in the opposite direction. For these home types, this parameter determines the maximum distance the axis can reverse to clear the limit switch and find the home switch or touch probe in the opposite direction. If this maximum distance is exceeded, the axis will decelerate to a stop at the Home Switch Search Deceleration and abort the home operation. If this parameter is set to 0, there will be no limit to the reverse travel distance. Currently, this parameter is applicable to the HS, HS_HS, HS_Index Pulse, HS_REV_Index Pulse, HSTP, and HS_HSTP home types. 3.20 Index Pulse Distance Check If set to a non-zero value, whenever a homing procedure that searches for multiple Index Pulse is performed, the distance between successive Index Pulse is checked. If the distance does not equal the distance specified in this parameter, a home error will be generated. 3.21 Mechanical End Detection Homing Position Difference When the axis presses against the Mechanical End, if the difference between the command position and feedback position exceeds this parameter amount, a count will begin. 3.22 Mechanical End Detection Homing Time When the difference between the command position and feedback position exceeds the Mechanical End Detection Homing Position Difference parameter, a count will begin, and when the count reaches this parameter value, then the feedback position will be set as its home position. [milliseconds] 3-6

Chapter 3: Home Parameters 3.23 Mechanical End Detection Ignore Limit Switch Allowed Values: 0 (Disabled), 1 (Enabled) When this parameter is set to 1, the limit switch during MechanicalEndDetection, or MechanicalEndDetectionHS home types will not execute its normal limit switch operation (Servo Off, Deceleration Stop, etc), and will be ignored if and when triggered. This parameter does not affect home type MechanicalEndDetectionLS. 3.24 Gantry Homing Allowed Values: 0 (Disabled), 1 (Enabled) If the master axis is set to enabled (1), homing for synchronized pairs or groups of axes will use the home switches, limit switches, Index Pulses, and/or touch probes of the master axis and all slave axes. In addition, when Gantry Homing is enabled, each master and slave axes will independently move the home shift distance set for the each axes. If Gantry Homing parameter is disabled (0) on the master axis, only the home switch, limit switch, Z-pulse, and/or touch probe of the master axis will be used, and the slave axes will follow the motion of the master axis throughout the entire homing operation. Slave axes home shift distance parameters will be ignored and their Home Done flags will not be set at the end of homing. See WMX2 Functions Manual Chapter 1, Section 1.18: Gantry Homing for operation specifics of gantry homing. 3.24.1 Gantry Homing Single HS Allowed Values: 0 (Disabled), 1 (Enabled) If Gantry Homing Single HS is enabled on the master axis when Gantry Homing parameter is also enabled, only the home switch of the Master axis is used during gantry homing, if the home type uses a home switch. If Gantry Homing Single HS is disabled on the master axis when Gantry Homing parameter is enabled, home switches of the Master axis and all slave axes will be used during gantry homing, if the home type uses a home switch. This parameter is only applicable if the Gantry Homing parameter on the Master axis is set to Enabled. 3.24.2 Gantry Homing Single LS Allowed Values: 0 (Disabled), 1 (Enabled) If Gantry Homing Single LS is enabled on the master axis when Gantry Homing parameter is also enabled, only the limit switch of the master axis will be used during gantry homing, if the home type uses limit switches. If Gantry Homing Single LS is disabled on the Master axis when Gantry Homing parameter is enabled, limit switches of the Master axis and all slave axes are used during gantry homing, if the home type uses limit switches. This parameter is only applicable if the Gantry Homing parameter on the Master axis is set to Enabled. 3-7

Chapter 3: Home Parameters 3.24.3 Gantry Homing Single Index Pulse Allowed Values: 0 (Disabled), 1 (Enabled) If Gantry Homing Single Index Pulse is enabled on the Master axis when Gantry Homing parameter is also enabled, only the Z-pulse of the Master axis will be used during gantry homing, if the home type uses Index Pulse. If Gantry Homing Single Index Pulse is disabled on the Master axis when Gantry Homing parameter is enabled, then Index Pulse of the Master axis and all slave axes are used during gantry homing, if the home type uses Index Pulse. This parameter is only applicable if the Gantry Homing parameter on the Master axis is set to Enabled. 3.24.4 Gantry Homing Single HSTP Allowed Values: 0 (Disabled), 1 (Enabled) If Gantry Homing Single HSTP is enabled on the Master axis when Gantry Homing parameter is also enabled, only the touch probe of the Master axis will be used during gantry homing, if the home type uses the touch probe. If Gantry Homing Single HSTP is disabled on the Master axis when Gantry Homing parameter is enabled, then the touch probes of the Master axis and all slave axes are used during gantry homing, if the home type uses the touch probes. This parameter is only applicable if the Gantry Homing parameter on the Master axis is set to Enabled. 3.25 Limit Switch Reverse Type Allowed Values: 0 (Normal), 1 (Type 1) If the Limit Switch Reverse Type is set to Type 1, the axis will immediately stop after detecting the limit switch, if the home type uses limit switches. No position commands beyond the position where the limit switch was detected will be sent to the servo. This parameter is for servos that ignore position commands beyond the position where the limit switch was detected. 3-8

Chapter 4: Limit Switch Parameters Chapter 4: Limit Switch Parameters! CAUTION Limit switches will not trigger if the axis is traveling in the direction opposite to the limit switch. A positive limit switch will trigger only if the axis is traveling in the positive direction or is not moving. A negative limit switch will trigger only if the axis is traveling in the negative direction or is not moving. 4.1 Limit Switch Type Default Value: LimitSwitchType::None The behavior of the positive and negative limit switches when triggered. The available choices are as follows: LimitSwitchType::None Do nothing. Select this setting if the servo handles the limit switch. LimitSwitchType::ServoOff Immediately turn the servo off. LimitSwitchType::DecServoOff Decelerate to a stop using the Limit Switch Deceleration, then turn the servo off. LimitSwitchType::Dec Decelerate to a stop using the Limit Switch Deceleration. LimitSwitchType::SlowDecServoOff Decelerate to a stop using the Limit Switch Slow Deceleration, then turn the servo off. LimitSwitchType::SlowDec Decelerate to a stop using the Limit Switch Slow Deceleration. LimitSwitchType::SeparatePositiveLSNegativeLS - Specify the Limit Switch Type separately for the positive limit switch and the negative limit switch. When a limit switch is triggered, further motion in the direction of the limit switch will be canceled. If a positive limit switch is triggered, motion in the positive direction will be canceled. If a negative limit switch is triggered, motion in the negative direction will be canceled. For certain home types, the limit switch type will be ignored and the limit switch will be used in a special homing procedure. If the limit switch type is LimitSwitchType::None, the limit switch status will still reflect the value reported by the servo. Also, the limit switch can still be used for home types that use the limit switch. 4.2 Positive Limit Switch Type Default Value: LimitSwitchType::None This parameter determines the limit switch type for the positive limit switch, if the Limit Switch Type parameter is set to LimitSwitchType::SeparatePositiveLSNegativeLS. If the Limit Switch Type parameter is set to anything else, this parameter is ignored. 4.3 Negative Limit Switch Type Default Value: LimitSwitchType::None 4-1

Chapter 4: Limit Switch Parameters This parameter determines the limit switch type for the negative limit switch, if the Limit Switch Type parameter is set to LimitSwitchType::SeparatePositiveLSNegativeLS. If the Limit Switch Type parameter is set to anything else, this parameter is ignored. 4.4 Limit Switch Polarity Allowed Values: 0 (Active Low), 1 (Active High) Default Value: 1 Whether the positive and negative limit switches are active when high or active when low. 4.5 Near Limit Switch Type Default Value: LimitSwitchType::None The behavior of the positive and negative near limit switches when triggered. Near limit switches are general purpose limit switches that may be mapped to any I/O input. Functionally, they are identical to external limit switches. See Section 4.1: Limit Switch Type for information regarding the available limit types. 4.6 Positive Near Limit Switch Type Default Value: LimitSwitchType::None This parameter determines the limit switch type for the positive near limit switch, if the Near Limit Switch Type parameter is set to LimitSwitchType::SeparatePositiveLSNegativeLS. If the Near Limit Switch Type parameter is set to anything else, this parameter is ignored. 4.7 Negative Near Limit Switch Type Default Value: LimitSwitchType::None This parameter determines the limit switch type for the negative near limit switch, if the Near Limit Switch Type parameter is set to LimitSwitchType::SeparatePositiveLSNegativeLS. If the Near Limit Switch Type parameter is set to anything else, this parameter is ignored. 4.8 Positive Near Limit Switch Byte Address Maximum Value: 1449 The byte address of the positive near limit switch I/O input. 4.9 Positive Near Limit Switch Bit Address Maximum Value: 7 4-2

Chapter 4: Limit Switch Parameters The bit offset of the positive near limit switch I/O input. 4.10 Positive Near Limit Switch Logic Allowed Values: 0 (Active Low), 1 (Active High) Default Value: 1 Whether the positive near limit switch is active when high or active when low. 4.11 Negative Near Limit Switch Byte Address Maximum Value: 1449 The byte address of the negative near limit switch I/O input. 4.12 Negative Near Limit Switch Bit Address Maximum Value: 7 The bit address of the negative near limit switch I/O input. 4.13 Negative Near Limit Switch Logic Allowed Values: 0 (Active Low), 1 (Active High) Default Value: 1 Whether the negative near limit switch is active when high or active when low. 4.14 External Limit Switch Type Default Value: LimitSwitchType::None The behavior of the positive and negative external limit switches when triggered. External limit switches are general purpose limit switches that may be mapped to any I/O input. Functionally, they are identical to near limit switches. See Section 4.1: Limit Switch Type for information regarding the available limit types. 4.15 Positive External Limit Switch Type Default Value: LimitSwitchType::None This parameter determines the limit switch type for the positive external limit switch, if the External Limit Switch Type parameter is set to LimitSwitchType::SeparatePositiveLSNegativeLS. If the External Limit Switch Type parameter is set to anything else, this parameter is ignored. 4-3

Chapter 4: Limit Switch Parameters 4.16 Negative External Limit Switch Type Default Value: LimitSwitchType::None This parameter determines the limit switch type for the negative external limit switch, if the External Limit Switch Type parameter is set to LimitSwitchType::SeparatePositiveLSNegativeLS. If the External Limit Switch Type parameter is set to anything else, this parameter is ignored. 4.17 Positive External Limit Switch Byte Address Maximum Value: 1449 The byte address of the positive external limit switch I/O input. 4.18 Positive External Limit Switch Bit Address Maximum Value: 7 The bit offset of the positive external limit switch I/O input. 4.19 Positive External Limit Switch Logic Allowed Values: 0 (Active Low), 1 (Active High) Default Value: 1 Whether the positive external limit switch is active when high or active when low. 4.20 Negative External Limit Switch Byte Address Maximum Value: 1449 The byte address of the negative external limit switch I/O input. 4.21 Negative External Limit Switch Bit Address Maximum Value: 7 The bit offset of the negative external limit switch I/O input. 4.22 Negative External Limit Switch Logic Allowed Values: 0 (Active Low), 1 (Active High) 4-4

Chapter 4: Limit Switch Parameters Default Value: 1 Whether the negative external limit switch is active when high or active when low. 4.23 Soft Limit Type Default Value: LimitSwitchType::None The behavior of the software limits when triggered. Software limits are triggered when an axis reaches the Positive Software Limit or Negative Software Limit positions. Software limits are triggered only when homing has been completed and the home done status is true. See Section 4.1: Limit Switch Type for information regarding the available limit types. 4.24 Positive Software Limit The positive position at which the software limit will be triggered. Whenever the axis is at a position greater than the positive soft limit, the axis is prevented from moving further in the positive direction. Whenever the axis is at a position less than the negative soft limit, the axis is prevented from moving further in the negative direction. This means that if both soft limits are positive or both soft limits are negative, and the axis is homed, then the axis is only allowed motion in the direction of the two soft limits until one of the limits are cleared. Software limits only apply after homing has been performed and the home done state is true. Before homing has been performed and the home done state is false, all software limit parameters are ignored. 4.25 Negative Software Limit The negative position at which the software limit will be triggered. Whenever the axis is at a position greater than the positive soft limit, the axis is prevented from moving further in the positive direction. Whenever the axis is at a position less than the negative soft limit, the axis is prevented from moving further in the negative direction. This means that if both soft limits are positive or both soft limits are negative, and the axis is homed, then the axis is only allowed motion in the direction of the two soft limits until one of the limits are cleared. Software limits only apply after homing has been performed and the home done state is true. Before homing has been performed and the home done state is false, all software limit parameters are ignored. 4.26 Limit Switch Deceleration Minimum Value: 1 Default Value: 10000 The deceleration to stop the axis at when the limit switch is triggered for the LimitSwitchType::DecServoOff and LimitSwitchType::Dec limit switch types. 4-5

Chapter 4: Limit Switch Parameters 4.27 Limit Switch Slow Deceleration Minimum Value: 1 Default Value: 10000 The deceleration to stop the axis at when the limit switch is triggered for the LimitSwitchType::SlowDecServoOff and LimitSwitchType::SlowDec limit switch types. 4.28 All Limit Switch During Homing Allowed Values: 0 (Disabled), 1 (Enabled) If enabled, all limit switches, even those opposite to the direction that the axis is traveling in, are able to be triggered during homing. If disabled, limit switches will only trigger when the axis is traveling in that direction. This parameter is used to prevent accidents caused by reversing the placement of the positive and negative limit switches. This parameter applies only while performing a homing operation. 4-6

Chapter 5: Motion Parameters 5.1 Quick Stop Deceleration Minimum Value: 1 Default Value: 10000 Chapter 5: Motion Parameters The deceleration to stop the axis at when the axis is stopped using quick stop. The difference between quick stop and regular stop are: Quick stop uses the Quick Stop Deceleration parameter as the deceleration rate. Regular stop uses the deceleration parameter that was specified for the command. Quick stop always uses a trapezoidal motion profile. Regular stop uses the profile that was specified for the command (when stopping home commands, a trapezoidal profile is used). A regular stop can be overridden by a quick stop, but a quick stop cannot be overridden by a regular stop. 5.2 E-Stop Deceleration Minimum Value: 1 Default Value: 10000 The deceleration to stop the axis at when the axis is stopped using E-Stop (emergency stop) while the EStopLevel parameter is set to Level1. 5.3 Starting Velocity The starting velocity that is used by certain position commands. These position commands do not take the starting velocity as a function argument. See the WMX2 API Reference Manual for further information. 5.4 End Velocity The end velocity that is used by certain position commands. These position commands do not take the end velocity as a function argument. See the WMX2 API Reference Manual for further information. 5.5 Minimum Velocity 5-1