RM_Axis – Motion control axis

Block SymbolLicensing group: MOTION CONTROL

Function Description
The RM_AXIS block is a cornerstone of the motion control solution within the REXYGEN system. This base block keeps all status values and implements basic algorithm for one motion control axis (one motor), which includes limits checking, emergency stop, etc. The block is used for both real and virtual axes. The real axis must have a position feedback controller, which is out of this block’s scope. The key status values are commanded position, velocity, acceleration and torque, as well as state of the axis, axis error code and a reference to the block, which controls the axis.

This block (like all blocks in the motion control library) does not implement a feedback controller which would keep the actual position as near to the commanded position as possible. Such a controller must be provided by using other blocks (e.g. PIDU) or external (hardware) controller. The feedback signals are used for lag checking, homing and could be used in special motion control blocks. The feedback signals are connected throw the RM_AxisSpline block.

The parameters of this block correspond with the requirements of the PLCopen standard for an axis. If improper parameters are set, the errorID output is set to -700 (invalid parameter) and all motion blocks fail with -703 error code (invalid state).

The parameters for limit velocity, acceleration and deceleration are twofold. One for application, e.g. limit value which could be set into movtion blocks. This value could be exceeded in some cases. Second limit is for system. The system limits must be higher then application limits and it is never exceeded. If some motion block generate path, that exceed system limit, error stop seqvence is activated.

Note that the default values for position, velocity and acceleration limits are intentionally set to $0$ , which makes them invalid. Limits must always be set by the user according to the real axis and the axis actuator.

Inputs

uChain

Input is not used by the block. User can connect any signal to define order of block’s execution

Long (I32)

Outputs

axisRef	Axis reference (only RM_Axis.axisRef-uAxis or yAxis-uAxis connections are allowed)	Reference
CommandedPosition	Requested (commanded) position of the axis. The value is logical position that is put into the motion blocks. The position is different from PhysicalPosition if the axis is circular or homed.	Double (F64)
CommandedVelocity	Requested (commanded) velocity of the axis	Double (F64)
CommandedAcceleration	Requested (commanded) acceleration of the axis	Double (F64)
CommandedTorque	Requested (commanded) torque in the axis	Double (F64)
State	State of the axis	Long (I32)
	0 .... Disabled 1 .... Stand still 2 .... Homing 3 .... Discrete motion 4 .... Continuous motion 5 .... Synchronized motion 6 .... Coordinated motion 7 .... Stopping 8 .... Error stop 9 .... Drive error(simillar to Error stop, but fault is caused by external signnal)
ErrorID	Result of the last operation	Error
	i .... REXYGEN general error
PhysicalPosition	Requested (commanded) position of the axis. The value is physical position that is put into the feedback controller. The position is different from CommandedPosition if the axis is circular or homed.	Double (F64)

Parameters

AxisType	Type of the axis $⊙$ 1	Long (I32)
	1 .... Linear axis 2 .... Cyclic axis with cyclic position sensor 3 .... Cyclic axis with linear position sensor 4 .... Linear axis in testing mode. In this mode, position limits and limit switches are disabled. This type is intended for testing and commissioning, sometimes it can also be suitable for continuous operation on cyclic axes.
EnableLimitPos	Enable positive position limit checking (e.g. if checked, MaxPosAppl is valid)	Bool
MaxPosAppl	Positive position limit for application (MC blocks). The value should be smaller then (before the) MaxPosSystem for linear axis. The value limit cyclic axis with linear senzor for few revolution (useful for robotic application) and must be bigger then (beyond the) MaxPosSystem.	Double (F64)
MaxPosSystem	Positive position limit for system. The value is never exceeded for linear axis. The value is end of revolution for cyclic axis.	Double (F64)
EnableLimitNeg	Enable negative position limit checking (e.g. if checked, MinPosAppl is valid)	Bool
MinPosAppl	Negative position limit for application (MC blocks) The value should be bigger then (before the) MinPosSystem for linear axis. The value limit cyclic axis with linear senzor for few revolution (useful for robotic application) and must be smaller then (beyond the) MinPosSystem.	Double (F64)
MinPosSystem	Negative position limit for system. The value is never exceeded for linear axis. The value is begin of revolution for cyclic axis.	Double (F64)
EnablePosLagMonitor	Enable monitoring of position lag (e.g. if checked, MaxPositionLag is valid)	Bool
MaxPositionLag	Maximal position lag. Any moving is stopped and the axis is switched into error stop state if different between PhysicalPosition and ActualPosition exceed this value.	Double (F64)
MaxVelocitySystem	Maximal allowed velocity for system	Double (F64)
MaxVelocityAppl	Maximal allowed velocity for application (MC blocks)	Double (F64)
MaxAccelerationSystem	Maximal allowed acceleration for system	Double (F64)
MaxAccelerationAppl	Maximal allowed acceleration for application (MC blocks)	Double (F64)
MaxDecelerationSystem	Maximal allowed deceleration for system	Double (F64)
MaxDecelerationAppl	Maximal allowed deceleration for application (MC blocks)	Double (F64)
DefaultJerk	Maximal recomended jerk [unit/ $s^{3}$ ]. Real jerk is not checked and could overcome this value.	Double (F64)
MaxTorque	Maximal motor torque/force (0=not used)	Double (F64)
TorqueRatio	Torque-Acceleration ratio. The requested torque value is useful for feedback controller. The most block don’t generate it. The requested torque value is comuted as reqested acceleration multiplied by this parameter.	Double (F64)
LoopDelay	delay between commanded and actual values[s] The actual position value is deleyed from commanded value due communication with feedback controller, feedback loop, value interpolation and sampling period. The delay could be set into this parameter and then position lag is computed more precisely. (not yet implemented)	Double (F64)
StartMode	Some options when axis is enabled $⊙$ 1	Long (I32)
	1 .... start stopped 2 .... start tracking
HomingRequired	Homing is required before any move	Bool

Example
Following example illustrates basic principle of use of motion control blocks. It presents the minimal configuration which is needed for operation of a physical or virtual axis. The axis is represented by RM_Axis block. The limitations imposed on the motion trajectory in form of maximum velocity, acceleration, jerk and position have to be set in parameters of the RM_Axis block. The inputs can be connected to supply the values of actual position, speed and torque (feedback for slip monitoring) or logical limit switch signals for homing procedure. The axisRef output signal needs to be connected to any motion control block related to the corresponding axis. The axis has to be activated by enabling the MC_Power block. The state of the axis changes from Disabled to Standstill (see the following state transition diagram) and any discrete, continuous or synchronized motion can be started by executing a proper functional block (e.g. MC_MoveAbsolute). The trajectory of motion in form of desired position, velocity and acceleration is generated in output signals of the RM_Axis block. The reference values are provided to an actuator control loop which is implemented locally in REXYGEN system in the same or different task or they are transmitted via a serial communication interface to end device which controls the motor motion (servo amplifier, frequency inverter etc.). In case of any error, the axis performs an emergency stop and indicates the error ID. The error has to be confirmed by executing the MC_Reset block prior to any subsequent motion command. The following state diagram demonstrates the state transitions of an axis.

Axis state transition diagram

Motion blending
According to PLCOpen specification, number of motion control blocks allow to specify BufferMode parameter, which determines a behaviour of the axis in case that a motion command is interrupted by another one before the first motion is finished. This transition from one motion to another (called "Blending") can be handled in various ways. The following table presents a brief explanation of functionality of each blending mode and the resulting shapes of generated trajectories are illustrated in the figure. For detailed description see full PLCOpen specification.


Aborting	The new motion is executed immediately

Buffered	the new motion is executed immediately after finishing the previous one, there is no blending

Blending low	the new motion is executed immediately after finishing the previous one, but the axis will not stop between the movements, the first motion ends with the lower limit for maximum velocity of both blocks at the first end-position

Blending high	the new motion is executed immediately after finishing the previous one, but the axis will not stop between the movements, the first motion ends with the higher limit for maximum velocity of both blocks at the first end-position

Blending previous	the new motion is executed immediately after finishing the previous one, but the axis will not stop between the movements, the first motion ends with the limit for maximum velocity of first block at the first end-position

Blending next	the new motion is executed immediately after finishing the previous one, but the axis will not stop between the movements, the first motion ends with the limit for maximum velocity of second block at the first end-position

Illustration of blending modes

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