Motion Console

The Motion Console dialog box displays Manual Tuning and Motion Generator. Use Manual Tuning to to manually tune gains for optimum drive servo loop performance. The initial state of the Manual Tunes dialog box depends on the context in which it is launched (Motion Generator panel, Manual Tune panel, Additional Tune panel).
The Manual Tuning panel lets you quickly modify data associated with the tuning of an axis. All the data in this panel is immediately committed. (The Undo option is not available.)
This dialog box may be accessed via three ways: with the context of Manual Tune, with the context of Motion Generator, or with the Manual Tune button on the bottom of the dialog box. In the case where the tool is opened via the Motion Generator context, the Manual Tune expander is in the collapsed state.
Manual Tune Collapsible Panel
Located on the left side of the Motion Generator panel, click this tab to expand the manual tuning commands.
If you access this dialog box as a result of a Manual Tune command, the Manual Tune panel is already expanded when the dialog box opens.
TIP: The Manual Tune panel only applies for Position Loop and Velocity Loop application types. This panel is not available for any other Axis Configurations. If the Manual Tune panel is expanded and you change the Axis Configuration to a value other than Position Loop or Velocity Loop, the contents of the Manual Tune expander become disabled. This includes the Additional Tune section if it is also expanded.
Parameters
Manual Tune Panel
Reset
Click this button to return the values for all attributes that have changed since the Manual Tune dialog box was opened. The values return to the state they were in when this dialog box was initialized.
TIP: The reset button only resets values on this dialog box.
System Bandwidth Slider
Use the System Bandwidth slider to modify the overall bandwidth of the drive's servo loop.
System Bandwidth
Enter a value to modify the system bandwidth.
TIP: If you click the System Bandwidth slider, this value updates to match the value where you clicked on the slider.
System Damping Slider
Use the System Damping slider to modify the overall damping of the drive's servo loop.
System Damping
Enter a value to modify the damping factor. The System Damping is for setting the axis Bandwidth and Error Tolerance values.
Valid values are in the range of 0.5 to 2.0. However, if you click the slider, it forces the value into the range of 0.8...1.5.
TIP: If you click the Damping Factor slider, this value updates to match the value where you clicked on the slider.
Tuning Configuration
Click the plus sign to expand the Tuning Configuration panel to display the current Application Type, Coupling, and Gains to Tune settings.
The position integrator bandwidth only applies when the Axis Configuration is set to Position Loop and the Application Type is set to Custom.
The velocity integrator bandwidth only applies when the Application Type is set to Custom.
Position Loop
Loop Bandwidth
Click the arrows to enter a value for the loop bandwidth for the position loop.
The values are in the range of 0...Max Float.
Loop Bandwidth appears dimmed if the Axis Configuration is not set to Position Loop.
Integrator Bandwidth
Click the arrows to enter a value for the integrator bandwidth for the position loop.
The values are in the range of 0...Max Float.
Integrator Bandwidth appears dimmed when the Axis Configuration is not set to Position Loop.
Integrator Hold
Click the arrow to toggle between enabling or disabling integrator hold for the position loop.
Integrator Hold appears dimmed when the Axis Configuration is not set to Position Loop.
Error Tolerance
Click the arrows to enter a value for the error tolerance for the position loop.
The values are in the range of 0...Max Float.
Error Tolerance appears dimmed when the Axis Configuration is not set to Position Loop.
Velocity Loop
Loop Bandwidth
Click the arrows to enter a value for the loop bandwidth for the velocity loop.
The values are in the range of 0...Max Float.
Integrator Bandwidth
Click the arrows to enter a value for the integrator bandwidth for the velocity loop.
The values are in the range of 0...Max Float.
Integrator Hold
Click the arrow to toggle between enabling or disabling integrator hold for the velocity loop.
Error Tolerance
Click the arrows to enter a value for the error tolerance for the velocity loop.
The values are in the range of 0...Max Float.
Additional Tune Panel
Click the arrows to expand the Additional Tuning panel in which you can configure the following tuning options:
Motion Generator
Use this panel to move the axis to test the changes to the servo loop parameters.
Parameters
Commands
Lists Motion Direct Commands.
The supported commands include:
  • MSO (Motion Servo On)
  • MSF (Motion Servo Off)
  • MAJ (Motion Axis Jog)
  • MAM (Motion Axis Move)
  • MAS (Motion Axis Stop)
  • MAH (Motion Axis Home)
  • MDS (Motion Drive Start)
  • MAFR (Motion Axis Fault Reset)
More Commands
Click this link to open a Motion Direct Command dialog box with a complete list of instructions.
DANGER
Displays warning messages.
Instruction Status
Displays the Motion Direct Command execution status (execution error).
Safe Torque Off bypassed
This warning displays when the drive is a CIP Safety drive and Safety State is "Not Configured (Torque Permitted") or "Not Running (Torque Permitted)".
The Safe Torque Off safety function may be bypassed when performing a Motion Direct Command while the safety controller is in Program Mode. Note that CIP Safety drive allows Motion producing power when Safe Torque Off has been bypassed.
Axis State
Displays the state of the axis.
TIP: For CIP axis, this control is associated with the CIP Axis State attribute.
Available values include:
  • Unconnected
  • Precharge
  • Stopped
  • Starting
  • Running
  • Testing
  • Stopping
  • Aborting
  • Faulted
  • Start Inhibited
  • Shutdown
  • Axis Inhibited
  • Not Grouped
  • No Module
Axis State appears dimmed in offline mode.
Safety State
Displays the state of the safety drive. Available values include:
  • Unknown (No Motion Connection)
  • Self-Testing
  • Configured (No Safety Connection)
  • Self-Testing Failed
  • Running
  • Not Running
  • Recoverable Fault
  • Unrecoverable Fault
  • Configuring
  • Not Configured
  • Unknown
  • Not Configured (Torque Permitted)
  • Not Running (Torque Permitted)
The Safety State is only available when the drive is a CIP safety drive, and it appears dimmed in offline mode.
Axis Fault
Displays the faulted state of the axis.
Axis Fault appears dimmed in offline mode.
Start Inhibited
Displays the current state that inhibits starting of the axis.
Execute
Click this button to execute the Motion Direct Command you selected in the Command list.
The Execute button is enabled in online mode.
Disable Axis
Click this button to send a disable axis direct command to the controller. (You must be working online.)
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