MN1941WEN Operation 5-13
5.4 Configuring axes
The NextMove e100 is capable of controlling its own 4 stepper and 3 servo axes, plus further
‘remote’ axes over Ethernet POWERLINK (EPL). Each axis must be assigned a unique axis
number. The axis number is used throughout Mint WorkBench and the NextMove e100’s
Mint programs to identify a particular axis. This section describes how to configure each type
of axis.
5.4.1 Local axes, remote axes and profilers
The NextMove e100 is capable of simultaneously ‘profiling’ up to 16 axes. A profiler is a
calculator used by the NextMove e100 to constantly update the required axis position during
a move’s progress. Axes that require a profiler include each of the 7 local axes, and each
manager node profiled remote axis (see 5.4.1.2 below). The profilers can be used to control
independent axes or to coordinate synchronized motion on up to 16 axes. For example, the
NextMove e100 could profile its 7 local axes plus 9 independent manager node profiled
remote axes, 4 groups of 4 synchronized axes, or any other combination. If none of the local
axes are required, all 16 profilers could be used for remote manager node profiled remote
axes.
5.4.1.1 Local axes
The NextMove e100 has 7 ‘local’ axes, each of which requires one profiler (if in use). The
local axes are the 4 stepper axes and 3 servo axes for which electrical connections are
provided on the NextMove e100’s edge connectors (STEP & DIR for stepper axes, Demand
and ENC for servo axes).
5.4.1.2 Remote axes
In addition to the 7 local axes, the NextMove e100 can also control several ‘remote’ axes.
Remote axes are drive amplifiers, such as MicroFlex e100, connected to the NextMove e100
over the EPL connection. There are three ways for the NextMove e100 (the manager node)
to control a remote axis (a controlled node):
NextMove e100 can profile moves on behalf of the drive, sending continuously updated
incremental demands to the drive (‘manager node profiled’). Each remote axis of this
type consumes one profiler on the NextMove e100.
NextMove e100 can send a single demand to the drive, and then allow the drive to profile
the move itself (‘controlled node profiled’). After sending the demand the NextMove e100
takes no further part in controlling the move, so this type of remote axis does not
consume a profiler on the NextMove e100.
NextMove e100 can simply monitor the feedback from the drive, sending no demand
signals. This type of remote axis does not consume a profiler on the NextMove e100.
When controlling a remote axis, the NextMove e100 controller sends demand signals and/or
receives position information from the e100 drives over the EPL network. However, since the
e100 system uses intelligent positioning drives, the controller / drive combination does not
form a traditional feedback system. Instead, the position, speed and torque loops are closed
locally by the e100 drive for higher performance. Since the e100 drive / motor combination
can be autotuned, setup is much simpler than traditional systems.
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