Select a Step ......................................................... REQUIREMENTS AND SAFETY Introduction Required Materials Safety Precautions Hardware Requirements and Installation FAQs for Motion Console ––––––––––––––––––––––– MOTION CONSOLE Object-oriented Motion Control Motion Console Objects Motion Console User Interface – Main Motion Console Frame – Adding a New Controller – Object Summary Windows – Object Explorer – Object List Configuration Dialog Boxes Configuring New Systems with Motion Console – Getting Started with Motion Console – Saving Parameter Settings – Associating Objects with Motion Console – Configuring a Motion Supervisor – Mapping One Object to Another – Removing (Deleting) a Mapped Object – Safety Reminders Motion Console Objects – Controller Object – Motion Supervisor Object – Axis Object – Filter Object – Motor Object – SynqNet Object – SqNode Object – I/O Object Command Line Options Reading Versions with Motion Console Troubleshooting

Motion Supervisor Object

Motion Supervisors can be thought of as specialized task-masters for motion control. Many system designers find it convenient to divide their system into specialized sub-tasks, each handled by a separate motion supervisor. As you organize your motion control system, the advantages of this approach will become obvious.

The Motion Supervisor summary window is divided into two configuration tab pages, plus a General Status page as shown below, and includes such attributes as Motion Type and Stop Time:

User Label – User-defined label for the object.

View Sub-objects – Shows all sub-objects for the Motion Supervisor. For more information, see Object Summary Windows.

Axis Map – Displays the MS Axis List Configuration window. For more information, see the Object List Configuration Dialog Boxes section.

Stop Time –Time (in seconds) to decelerate axis to a stop.

CAUTION! Actual stopping time is limited by mass and speed! If you are moving a heavy object at high speed and command a very rapid Stop Time, your motion control or mechanical system may be unable to comply. Verify that drive and motor manufacturer's specifications meet the demands placed upon your system BEFORE assuming a stop time.

E-Stop Time – Time to decelerate to an emergency stop. When E-Stop is activated, the State will be flagged with a Stopping Error while the axis is decellerated. An Error state is flagged when the axis comes to a complete stop. However, amp enable outputs are NOT disabled.
NOTE: If the axis is close to completing a move when E-Stop is activated, the axis may halt before the E-Stop Time has expired.

Normal Feedrate – Speed scaling factor applied to movement. 0 = stopped; 1 = normal speed (unscaled); 1.5 = 150%; 2 = 200%, -1 = reversed norma speed; etc.

Panic Action – Action to execute when the panic key is activated.
NOTE: Some panic action states (E-Stop and Abort) flag a fault condition. To reset the system after a fault, click on the Clear Fault button (MS Summary / Actions tab page).

Configuration Attributes: "Actions" Tab Page

Motion Type – The motion type specifies the profile for the commanded motion trajectory.

• Trapezoidal – Implements a trapezoidal velocity trajectory to reach the target position. Does not use the Jerk Percent parameter.


• Cartesian Trapezoidal – For multiple axes per MS.  Implements a trapezoidal velocity trajectory with each axis’ component velocity, acceleration, and deceleration scaled by the ratio of the axis move distances.  The first axis’ motion parameters specify the vector velocity, vector acceleration, and vector deceleration for the resultant vector profile.

• S-Curve Jerk % – Implements an S-curve velocity trajectory, using the Jerk Percent parameter to reach the target position.


• Cartesian S-Curve Jerk % – For multiple axes per MS.  Implements a trapezoidal velocity trajectory with each axis’ component velocity, acceleration, and deceleration scaled by the ratio of the axis move distances.  The first axis’ motion parameters specify the vector velocity, vector acceleration, and vector deceleration for the resultant vector profile.

Coordination – Determines the coordinated behavior when 2 or more axes are mapped to a motion supervisor:

Start – Axes start at the same time and each axis uses its specified motion trajectory parameters.  Axes may finish at different times, depending on their specified trajectory parameters.

Finish - Axes finish at the same time and each axis uses its specified motion trajectory parameters.  Axes may start at different time, depending on their specified trajectory parameters.

Start and Finish – Axes will start and finish at the same time.  The trajectory parameters are scaled lowered based on the axis whose trajectory profile takes the longest time.

Delay – Time delay (in seconds) before execution of next move command. If operating in Repeat Mode, the delay will be applied to the beginning of each move segment.

Repeat Mode – [Enabled; (not enabled)] Repeats programmed motion.
NOTE: Each repeated motion will be delayed by the Delay amount (see description above on Delay).

Move Pos. 1 – Command each axis associated with the Motion Supervisor to Position 1.

Move to Further – Command each axis associated with the Motion Supervisor to either Position 1 or Position 2, whichever is further away.

Move Pos. 2 – Command each axis associated with the Motion Supervisor to Position 2.

Stop – Stops movement of objects under control of current Motion Supervisor within Stop time (seconds).

E-Stop – Emergency stop. Halts movement of objects under control of current Motion Supervisor within E-Stop time (seconds) and leaves the axes in an Error state.
NOTE: E-Stop does NOT disable closed-loop control and does not disable the amp enable output(s).

Abort – Immediately stops movement of objects under control of current Motion Supervisor, disables closed-loop control, and disables the amp enable output(s), leaving the axes in an Error state.

CAUTION! Do not use Abort when testing equipment which depends upon servos or stepper motors to secure personnel or equipment (e.g., lifting cranes, elevators, etc.). The Abort command disables servos and steppers and, in some circumstances, may present a hazard to personnel or equipment due to sudden loss of power.

Zero Position – Sets the origin of the axis to the current actual position and the command position to 0. The algorithm for setting the origin is: new origin = current origin + actual position

Clear Fault – Clears the Motion Supervisor's error state and all sub-object statuses. If you are having problems clearing the faults, it may be a result of improper axis mapping. Please see the Troubleshooting section.

Status Attributes

Status fields are read-only:

Motion States

State – Current motion state. See Motion States table below.

State	Description
	Idle (State parameter). Awaiting a move command.
	In motion (State parameter). Performing a move command.
	Stopping. (State parameter). Motion has been commanded to stop.
	Moving when not commanded to move. NOTE: This occurs when another application commands a move.
	Initializing.
	Unknown state.
	Fault or limit detected. (See Event Status Flags below.)

Error States

	A black checkmark indicates something positive. (ex: Motion Done, At Target)
	A red checkmark indicates something potentially negative. (ex: error states, limits, amp fault, etc.)

Error	Flag	Description
Amp[lifier] Fault		Yes - Amplifier fault.
Position Error Limit		Yes - Error between command and actual position exceeds user-defined limit.
Torque Limit		Yes – Torque limit has been exceeded.
HW Neg. limit		Yes - Hardware negative limit activated.
HW Pos. limit		Yes - Hardware positive limit activated.
SW Neg. limit		Yes - Software negative limit exceeded.
SW Pos. limit		Yes - Software positive limit exceeded.
Feedback Fault		Yes - Feedback fault detected.
Amp Warning		Yes - Amp warning.
Motion Done		Yes - Move command completed.
At Velocity		Yes - Commanded velocity attained.
Out of Frames		Yes - Out of Frames. A Motion Done event was generated from a Motion Supervisor object. See MPIEventType.
Action Source	Controller | User	Controller - Last action was commanded by the controller. User - Last action was commanded by you. See MPIActionSource.