General page

The
General
page establishes key associations and operations for the axis. Axis attributes are required, optional, or conditional based on the selected control mode. Use the
General
 page to:
  • Associate axes and drives
    IMPORTANT: Be sure to associate the drive as the first step in configuring the axis. The drive determines which attributes are supported.
  • Configure the associated axis and control mode
  • Create and associate a new motion group
  • Manually change tuning and issue motion direct commands.
TIP: To open the General page:
  1. In the
    Controller Organizer
    , expand the
    Motion Groups
     folder, and double-click an axis.
  2. From the
    Axis Properties
     dialog box, in
    Categories
    , click
    General
    .
The parameters displayed in the
General
 page depend on the type of Axis Configuration, drive selected, and controller capabilities.
Parameter
Description
Axis Reset
Re-initializes the axis to its default state and restores the last applied Module, Axis Number, and Motor Catalog Number. Automatically updates all dependent attributes. This operation cannot be undone.
Axis Configuration
Selects an axis type from the list. The available options are:
  • Feedback Only
  • Frequency Control
  • Position Loop
  • Velocity Loop
  • Torque Loop
  • Non-Regenerative AC/DC Converter
  • Regenerative AC/DC Converter
  • Low Harmonic AC/DC Converter
  • DC/DC Converter
  • Track Section
Feedback Configuration
Determines how the available feedback channels of the drive associate with this axis.
The
Feedback Configuration
 options vary by profile and axis type.
Application Type
Determines the type of motion control application. Defines the servo loop configuration automatically. These combinations determine how to make calculations and reduces Autotuning and Manual tuning. The available values include:
  • Custom
  • Basic (default)
  • Tracking
  • Point to Point
  • Constant Speed
    Tip:
    Changing the
    Application Type
     value affects other attributes (
    Velocity Integrator Hold
    ,
    Position Integrator Hold
    ,
    Gain Tuning Configuration Bits
    ).
Application Type
 is unavailable when the axis is
Servo On
.
Converter Configuration
Determines the general control behavior of the regenerative or low harmonic AD/DC converter axis.
The available values include:
  • Bus Voltage Control
  • Active Current Control
Loop Response
Selects how tightly or hot the system tunes.
The available values include:
  • Low
  • Medium
  • High
The default value is the current value of the attribute.
Tip:
Changing the
Loop Response
value affects the
Damping Factor
 attribute.
Loop Response is unavailable in online mode and when the axis is
Servo On
.
Vertical Load Control
Tailors motor control behavior for vertical load applications. When
Enabled
, the drive attempts, whenever possible, to avoid applying Category 0 stop actions in response to Major Fault conditions. The drive may tailor other aspects of its behavior to best handle vertical loads.
The available values include:
  • Disabled
  • Enabled
Converter Startup Method
Specifies how the regenerative axis transitions from the Stopped state to the Starting state.
The available values include:
  • Enable Request
     - the converter stays in the Stopped state until it receives an Enable Request from the controller. After the converter receives the request, it transitions to Starting state and checks for proper AC line synchronization. Once ready for regenerative control, the converter transitions to the Running state with all configured control loops operational.
  • Enable Input
     - the converter checks the status of the Enable Input. If it is active, the converter axis transitions from the Stopped state to the Starting state and checks for proper AC line synchronization. Once ready for regenerative control, the converter transitions to the Running state with all configured control loops operational.
  • Automatic
     - the converter automatically transitions to Starting state and checks for proper AC line synchronization. Once ready for regenerative control, the converter transitions to the Running state with all configured control loops operational.
This parameter is unavailable in online mode and when the axis is
Servo On
.
Reactive Power Control
Enables or disables the reactive power control function for the regenerative converter.
When
Enabled
, the regenerative converter works solely as a reactive power compensation device by injecting reactive power to the grid. The converter does not transfer active power to associated drives on the DC Bus. Instead all of the converter's rating capacity is dedicated to reactive power correction to the grid.
The available values include:
  • Disabled
  • Enabled
This parameter is unavailable in online mode and when the axis is
Servo On
.
Motion Group
Associates a motion group to the axis. Select
<none>
 to not associate a motion group with the axis. The motion_group value is selected by default.
Click dots to open the
Axis Properties
 dialog box.
dots is unavailable when there is no axis associated with the node and when there are pending edits.
New Group
Opens the
New Program Parameter
 or
Tag
dialog box to create a new motion group.
New Group
 is unavailable in online mode, when the maximum number of groups has been exceeded, and when the axis is not associated with a drive.
Update Period
View the update period for the axis.
Shows the Base Update period by default. Or, if applicable, shows the multiplex update rate.
Click dots to open the
Axis Schedule
 dialog box to schedule the base update period and alternate 1 and alternate 2 periods, and assign axes to the rates.
Module
Associates the motion module with this axis.
Changing the module changes the profile of the module and the options the module supports.
Modular Type
Identifies the motion module type (read-only).
Power Structure
Identifies the power structure used with the module (read-only).
Axis Number
Selects the axis number of the motion module. The available options are Axis 1, 2, 3, or 4.
Axis numbers that are already assigned do not appear in the list.
Application Catalog Number
The catalog number of the robot that this axis belongs to.
Tip:
 When an axis is associated to a robot, it might be managed, meaning some axis parameters are not configurable depending on the robot type. Refer to the specific robot documentation for a list of configurable parameters.
Application Version
The current version of characterized data for the application.
Instance
The unique identifier assigned by
Application Code Manager
 to all objects in the system that comprise one application. For example, for a robot, the application is the coordinate system and all joint axes. All of these objects receive the same instance number to indicate that they are part of a specific application.
Axis Test Mode Enable
Activates or deactivates Axis Test Mode. When
Axis
Test Mode Enable
 is enabled, the test mode status appears at the bottom of both the
General
page and the
Controller Organizer
.
TIP:
Axis Test Mode is available if it is supported by the selected controller.
Axis Test Mode Configuration
Determines the configuration for the Axis Test Mode.
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