Each Axis is represented in the Layout by an Axis Block.
The Axis Block displays feedback about the current, real-world state of the axis (coloured blue in the list below). This information is always “live” and will be displayed at all times.
It also displays move information that is currently loaded that relates to that axis (coloured orange in the list below). If there is no information in the current cue relating to that axis, these are left blank.
Axis Number and Name appear at the top of the Axis Block. This top grey section also acts as a progress bar, so you can see how far through a move an axis is.
Position displays the current position of the axis.
Target shows the target or destination position of a move.
Move shows the type of move, either Absolute, Relative or Continuous.
Speed shows the target speed of a move.
Act Speed stands for Actual Speed and displays the current speed of the axis.
Accel stands for Acceleration and shows the acceleration rate for a move.
Decel stands for Deceleration and shows the deceleration rate for a move.
Time Left displays the time remaining in the move from it’s current position.
Status displays the current status of the axis. Any faults or error relating to the axis will be shown here.
Torque displays a bar graph indicating the current torque that an axis is using to achieve a move. Generally it should be in the green range of the graph and occasionally in the yellow. If the torque is in the red range for a prolonged period of time it will trigger an error.
Playback shows the playback that the axis has been assigned to in the current cue.
At the bottom of an Axis Block there are two sections that can be expanded or collapsed. IO and Conf.
IO stands for input and output. When expanded it will show the current status of any IO associated with that axis.
- A green background indicates that the IO is “OK”.
- A red background indicates that the IO is “struck”, has a fault or is in error.
Typically an axis will have the following IO:
Low Ult: The Low Ultimate Limit High Ult: The High Ultimate Limit Low Init: The Low Initial Limit High Init: The High Initial Limit Low Soft: The Low Soft Limit High Soft: The High Soft Limit Estop: The Estop circuit for this axis.
The Initial and Ultimate limits, when used, are connected to physical limit switches that prevent over-travel.
You will be able to drive in the reverse direction to back away from an initial limit if it has been struck. Ultimate limits prevent any movement, until they become un-struck or overridden. Soft limits are based entirely on the position feedback. They act similarly to an initial limit, allowing you to drive away from them.
Conf stands for Configuration. When expanded it will show additional details about that axis that can be adjusted.
Actual Error displays further detail about an error or fault on an axis, if available.
Drive Reset allows you to reset any errors that have occurred on this particular axis. Press Drive Reset to reset errors.
High Soft displays the current high soft limit value. Adjust the high soft limit by entering a value in this box and pressing enter. You will be asked to confirm the new value before it takes effect.
Low Soft displays the current low soft limit value. Adjust the low soft limit by entering a value in this box and pressing enter. You will be asked to confirm the new value before it takes effect.
Set Position adjust the current position value by entering a value in this box and pressing enter. You will be asked to confirm the new value before it takes effect.
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