Mul File Specification - Axes : Différence entre versions

[version en cours de rédaction][version en cours de rédaction]
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<translate>= Specification =
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<translate>=Specification=
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The Axes file contains the details of the Axes   etc etc
+
The Axes file contains the details of the Axes    
−
 
+
 
−
 
 
−
need to know the types and descriptions of the elements
 
−
 
 
−
 
 
 
{| class="wikitable"
 
{| class="wikitable"
 
|+
 
|+
 
!No
 
!No
 
!Name
 
!Name
 +
!Example
 
!Format
 
!Format
 
!Notes
 
!Notes
 
|-
 
|-
 
|1
 
|1
−
|Axis
+
|Axis Name
−
|
+
|X
−
|alpha numeric
+
|string
 +
|The Axes are standardised with numbers and names.
 +
This ensures standardisation and compatibility across  machine types
 +
 
 +
See [[Axis Naming Standards]]
 
|-
 
|-
 
|2
 
|2
−
|
+
|Axis Id
−
|
+
|4
 
|numeric
 
|numeric
 +
|The axis Id is used by the PLC software to determine which physical drive is used. See [[Commissioning a Beckhoff Axis]]{{Info|...This is different for each control system layout and usually follows the order of the drives on the TwinCAT network}}<br />
 
|-
 
|-
 
|3
 
|3
−
|
+
|Enabled
−
|
+
|1
 
|numeric
 
|numeric
 +
|0- Axis Disabled
 +
1 - Axis Enabled
 
|-
 
|-
 
|4
 
|4
−
|
+
|Type
−
|
+
|1
 
|numeric
 
|numeric
 +
|Axis Type. Changes how the system deals with homing sequences
 +
0 - off
 +
 +
1 - servo
 +
 +
2 - stepper
 +
 +
3 - virtual
 
|-
 
|-
 
|5
 
|5
−
|
+
|Scaling Factor
−
|
+
|32727.430
 
|float
 
|float
 +
|Calibration factor in units per mm or degree
 
|-
 
|-
 
|6
 
|6
−
|
+
|Reverse
−
|
+
|1
 
|numeric
 
|numeric
 +
|Use to switch which direction is +ve
 +
Determined by
 +
 +
*Manufacturer of the drive system
 +
*Mounting location of motor
 +
*Handing of the machine
 +
 +
0 - Standard Direction
 +
 +
1 - Reverse axis direction
 
|-
 
|-
 
|7
 
|7
−
|
+
|Maximum Speed
−
|
+
|2000
 
|numeric
 
|numeric
 +
|Used as the fastest traverse speed when positioning
 +
in mms<sup>-1</sup>
 +
{{Warning|...Note - if any other parameter speed is greater than this, it will throw an axis error}}{{Info|...The maximum speed is usually limited by the harware. This should not be increased without authorisation.}}<br />
 
|-
 
|-
 
|8
 
|8
−
|
+
|Maximum Acceleration
−
|
+
|3000
 
|numeric
 
|numeric
 +
|in mms<sup>-2</sup>
 
|-
 
|-
 
|9
 
|9
−
|
+
|Maximum Deceleration
−
|
+
|6000
 
|numeric
 
|numeric
 +
|in mms<sup>-2</sup>
 
|-
 
|-
 
|10
 
|10
−
|
+
|Datum Offset
−
|
+
|490.4
 
|float
 
|float
 +
|Distance from the physical axis homing point to datum zero point
 
|-
 
|-
 
|11
 
|11
−
|
+
|Move to position after datum
−
|
+
|100.0
 
|float
 
|float
 +
|Following a home sequence, this determines where the axis move to
 +
A start position
 
|-
 
|-
 
|12
 
|12
−
|home ?
+
|Home Input IO Reference
−
|
+
|InC_GXHome
−
|alpha numeric
+
|string
 +
|IO Reference code for the home input See [[Mul File Specification - ioDef]]
 
|-
 
|-
 
|13
 
|13
−
|
+
|Datum Sequence Type
−
|
+
|0
 
|numeric
 
|numeric
 +
|Used On Nextmove systems only, NOT Beckhoff
 +
{| class="wikitable" cellspacing="0"
 +
|+
 +
|Bit
 +
|Bit Value
 +
|Purpose
 +
|- class="t2Row"
 +
|0
 +
|1
 +
|Back-off target. Defines the target for the back-off phase:
 +
 +
0 = Back-off to home input
 +
 +
1 = Back-off to home input and next index pulse
 +
|- class="t1Row"
 +
|1
 +
|2
 +
|Initial seek direction. Determines the direction of the initial seek phase:
 +
 +
0 = Negative
 +
 +
1 = Positive
 +
|- class="t2Row"
 +
|2
 +
|4
 +
|Initial seek target. Defines the target for the initial seek phase:
 +
 +
0 = Home input
 +
 +
1 = Index pulse
 +
|}
 
|-
 
|-
 
|14
 
|14
−
|
+
|Home Speed
−
|
+
|150
 
|numeric
 
|numeric
 +
|Speed used to home the axis on initialisation
 +
in mms<sup>-1</sup>
 +
{{Warning|...If a comination of high speed and low acceleration is used, along with a short run-off distance, the axis may bottom out when returning to zero}}<br />
 
|-
 
|-
 
|15
 
|15
−
|
+
|Maximum Follwoing Error
−
|
+
|20
 
|numeric
 
|numeric
 +
|On a servo drive, this is the maximum tolerated distance between where the system want the axis to be and where it actually is. When this distance is exceeded, the system will throw a "Following Error"{{Warning|...If this value is too big, the axis may never get to its intended position and no error will be generated.
 +
On Beckhoff systems, the system dynamics adre so good that the following error is rarely >2. On older systems, it can be greater}}
 +
 +
 
|-
 
|-
 
|16
 
|16
−
|
+
|KF - Feedforward Gain
−
|
+
|0.0
 
|float
 
|float
 +
| rowspan="4" |Servo Axis Tuning parameters{{Warning|...Changing these parameters can upset the stability of the system and damage the machine}}<br />
 
|-
 
|-
 
|17
 
|17
−
|
+
|KV - Damping Term
−
|
+
|0.0
 
|float
 
|float
 
|-
 
|-
 
|18
 
|18
−
|
+
|Proportional Gain
−
|
+
|30.0
 
|float
 
|float
 
|-
 
|-
 
|19
 
|19
−
|
+
|KI Integral Gain
−
|
+
|0.000
 
|float
 
|float
 
|-
 
|-
 
|20
 
|20
−
|
+
|Minimum Position
−
|
+
| -115
 
|numeric
 
|numeric
 +
| rowspan="2" |Physical limits of the machine
 +
Used by the software to ensure the machine does not exceed its limits
 
|-
 
|-
 
|21
 
|21
 +
|Maximum Position
 +
|7845
 
|
 
|
−
|
 
−
|numeric
 
 
|-
 
|-
 
|22
 
|22
 +
|Jerk
 +
|10000
 
|
 
|
−
|
+
|Beckhoff system only - detemines the smoothness of motion profile{{Info|...Jerk is defined as the rate of change of acceleration}}
−
|numeric
+
in mms<sup>-3</sup>
 
|-
 
|-
 
|23
 
|23
−
|
+
|Database Logging
−
|
+
|False
 
|boolean
 
|boolean
 +
|{{Dont|...Do not use}}
 
|-
 
|-
 
|24
 
|24
 +
|Axis Number
 +
|1
 
|
 
|
−
|
+
|he Axes are standardised with numbers and names.
−
|numeric
+
This ensures standardisation and compatibility across  machine types
 +
 
 +
See [[Axis Naming Standards]]
 
|-
 
|-
 
|25
 
|25
−
|
+
|Park Position
−
|
+
| -9999
 
|numeric
 
|numeric
 +
|Position to move to when powering down the machine
 
|-
 
|-
 
|26
 
|26
−
|
+
|Rereference position
−
|
+
|403
 
|numeric
 
|numeric
 +
|If the axis is fitted with a re-reference input, this value is the axis postion.
 +
The re-reference input is a fast trigger input connected directly to the drive which allows on-the-fly positional changes
 +
 +
This has been used on ZX5 SR axis where slippage on the SR mechanics is evident
 
|}
 
|}
  
−
= Sample =
+
=Sample=
 
<syntaxhighlight lang="text">
 
<syntaxhighlight lang="text">
 
X,4,1,1,32727.430,1,2000,3000,6000,490.4,100.0,InC_GXHome,0,150,20,0.0,0.0,30.0,0.000,-115,7845,10000,False,1,-9999,403
 
X,4,1,1,32727.430,1,2000,3000,6000,490.4,100.0,InC_GXHome,0,150,20,0.0,0.0,30.0,0.000,-115,7845,10000,False,1,-9999,403
Ligne 160 : Ligne 245 :
 
SY,8,1,2,819.600,1,20,50,50,-1.7,0.0,InF_SYHome,0,5,2,1.0,1.0,5.0,0.000,-20,19,10000,False,7,-9999,0
 
SY,8,1,2,819.600,1,20,50,50,-1.7,0.0,InF_SYHome,0,5,2,1.0,1.0,5.0,0.000,-20,19,10000,False,7,-9999,0
  
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Version actuelle datée du 23 juin 2022 à 11:07

Specification for the Axes.mul file

Auteur avatarGareth Green | Dernière modification 23/06/2022 par Gareth Green en cours de rédaction

Pas encore d'image


Specification for the Axes.mul file

Specification

The Axes file contains the details of the Axes

No Name Example Format Notes
1 Axis Name X string The Axes are standardised with numbers and names.

This ensures standardisation and compatibility across machine types

See Axis Naming Standards

2 Axis Id 4 numeric The axis Id is used by the PLC software to determine which physical drive is used. See Commissioning a Beckhoff Axis
...This is different for each control system layout and usually follows the order of the drives on the TwinCAT network

3 Enabled 1 numeric 0- Axis Disabled

1 - Axis Enabled

4 Type 1 numeric Axis Type. Changes how the system deals with homing sequences

0 - off

1 - servo

2 - stepper

3 - virtual

5 Scaling Factor 32727.430 float Calibration factor in units per mm or degree
6 Reverse 1 numeric Use to switch which direction is +ve

Determined by

  • Manufacturer of the drive system
  • Mounting location of motor
  • Handing of the machine

0 - Standard Direction

1 - Reverse axis direction

7 Maximum Speed 2000 numeric Used as the fastest traverse speed when positioning

in mms-1

...Note - if any other parameter speed is greater than this, it will throw an axis error
...The maximum speed is usually limited by the harware. This should not be increased without authorisation.

8 Maximum Acceleration 3000 numeric in mms-2
9 Maximum Deceleration 6000 numeric in mms-2
10 Datum Offset 490.4 float Distance from the physical axis homing point to datum zero point
11 Move to position after datum 100.0 float Following a home sequence, this determines where the axis move to

A start position

12 Home Input IO Reference InC_GXHome string IO Reference code for the home input See Mul File Specification - ioDef
13 Datum Sequence Type 0 numeric Used On Nextmove systems only, NOT Beckhoff
Bit Bit Value Purpose
0 1 Back-off target. Defines the target for the back-off phase:

0 = Back-off to home input

1 = Back-off to home input and next index pulse

1 2 Initial seek direction. Determines the direction of the initial seek phase:

0 = Negative

1 = Positive

2 4 Initial seek target. Defines the target for the initial seek phase:

0 = Home input

1 = Index pulse

14 Home Speed 150 numeric Speed used to home the axis on initialisation

in mms-1

...If a comination of high speed and low acceleration is used, along with a short run-off distance, the axis may bottom out when returning to zero

15 Maximum Follwoing Error 20 numeric On a servo drive, this is the maximum tolerated distance between where the system want the axis to be and where it actually is. When this distance is exceeded, the system will throw a "Following Error"
...If this value is too big, the axis may never get to its intended position and no error will be generated. On Beckhoff systems, the system dynamics adre so good that the following error is rarely >2. On older systems, it can be greater


16 KF - Feedforward Gain 0.0 float Servo Axis Tuning parameters
...Changing these parameters can upset the stability of the system and damage the machine

17 KV - Damping Term 0.0 float
18 Proportional Gain 30.0 float
19 KI Integral Gain 0.000 float
20 Minimum Position -115 numeric Physical limits of the machine

Used by the software to ensure the machine does not exceed its limits

21 Maximum Position 7845
22 Jerk 10000 Beckhoff system only - detemines the smoothness of motion profile
...Jerk is defined as the rate of change of acceleration

in mms-3

23 Database Logging False boolean
...Do not use
24 Axis Number 1 he Axes are standardised with numbers and names.

This ensures standardisation and compatibility across machine types

See Axis Naming Standards

25 Park Position -9999 numeric Position to move to when powering down the machine
26 Rereference position 403 numeric If the axis is fitted with a re-reference input, this value is the axis postion.

The re-reference input is a fast trigger input connected directly to the drive which allows on-the-fly positional changes

This has been used on ZX5 SR axis where slippage on the SR mechanics is evident

Sample

X,4,1,1,32727.430,1,2000,3000,6000,490.4,100.0,InC_GXHome,0,150,20,0.0,0.0,30.0,0.000,-115,7845,10000,False,1,-9999,403
Y,1,1,1,104857.600,0,250,2000,2000,8.4,0.0,InB_YHome,2,50,25,0.0,0.0,8.0,0.000,-120,120,10000,False,4,-9999,0
Z,2,1,1,104857.600,0,250,2000,2000,-38.4,0.0,InB_ZHome,2,50,25,0.0,0.0,12.0,0.000,-120,119,10000,False,5,-9999,0
R,7,1,1,126887.600,0,250,500,500,-0.4,0.0,InB_RHome,2,20,50,0.0,0.0,30.0,0.000,-3,361,10000,False,6,-9999,0
VY,3,1,1,104857.600,0,501,1000,1000,232.6,239.4,InB_VHome,0,50,5,0.0,0.0,8.0,0.000,-100,241,10000,False,11,-9999,0
SX,5,1,1,32727.430,0,2000,3000,6000,6931.8,7200.0,InE_SXHome,0,150,20,0.0,0.0,30.0,0.000,-38,7220,10000,False,10,-9999,0
SR,6,1,1,291851.000,1,250,400,400,55.4,90.0,InF_SRHome,3,20,5,0.0,5.0,10.0,0.000,45,136,5000,False,9,-9999,0
SY,8,1,2,819.600,1,20,50,50,-1.7,0.0,InF_SYHome,0,5,2,1.0,1.0,5.0,0.000,-20,19,10000,False,7,-9999,0

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