Motion Axes Node
Each of the nodes under the 'Motion Axes' node represents one particular axis to be controlled/monitored with an AXIS_REF variable. This AXIS_REF variable can then be used with special motion control FBs.
Axis nodes are automatically created when adding, for example, a drive module, SERVOPACK, encoder module etc to the EtherCAT Master or the local SliceBus controller.
The following axis types can be instantiated here, accordingly, the nodes are named:
| Axis instance /node) name | Description |
|---|---|
| Axis | Axis linked to a drive (for example, GA500 / GA700 etc.) |
| CoE Slice Bus External Axis | Encoder linked to a counter module which is connected to an EtherCAT bus coupler. |
| ServoNet Axis | Servomotor linked to an EtherCAT SERVOPACK. |
| ServoNet External Axis | Encoder linked to an EtherCAT SERVOPACK Feedback Option Card. This Option Card has been added as in the 'Module List' (i.e., as EtherCAT module) of the SERVOPACK EtherCAT slave station. |
| SliceBus External Axis | Encoder linked to a counter module on the local SliceBus (i.e., an Encoder module added in the 'Module List' of the SliceBus controller). |
| Virtual Axis | Virtual axis which is not linked to any hardware device. |
- Identifying and specifying the axis.
- Configuring the axis.
- Assigning the provided process data to project variables (Data List).
- Specifying up limit values.
- Displaying reported motion alarms (only in online mode).