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WMX Parameter Manual

Revision 0.9859 © 2015 Soft Servo Systems, Inc.

WMX PARAMETER MANUAL

Warning / Important Notice

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i

Warning

The product described herein has the potential – through misuse, inattention, or lack of understanding – to create

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Warning / Important Notice

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ii

Important Notice

The information contained in this manual is intended to be used only for the purposes agreed upon in the related

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Contents

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iii

Table of Contents

Warning ............................................................................................................................................................................................ i Important Notice ............................................................................................................................................................................. ii Table of Contents .......................................................................................................................................................................... iii List of Figures ................................................................................................................................................................................. v Chapter 1: WMX API Parameters ................................................................................................................................................ 1-1 Chapter 2: Feedback Parameters ............................................................................................................................................... 2-1

2.1 In Position Width Parameter ........................................................................................................................... 2-1 2.1.1 In Position State for Idle Axes ................................................................................................................ 2-1 2.1.2 In Position State for Axes Executing Position Commands ..................................................................... 2-1 2.1.3 In Position State for Axes Executing Interpolation Commands .............................................................. 2-1 2.1.4 In Position State for Axes Executing Other Commands ......................................................................... 2-1 2.1.5 In Position State for Sync Axes ............................................................................................................... 2-1 2.1.6 In Position State for Single Turn Axes .................................................................................................... 2-2

2.2 Velocity Monitor Source ................................................................................................................................. 2-2 2.3 Positioning Completed Width ......................................................................................................................... 2-3 2.4 DPset Delay .................................................................................................................................................... 2-3

Chapter 3: Home Parameters ..................................................................................................................................................... 3-1 3.1 Home Type Parameter .................................................................................................................................... 3-1

3.1.1 Names of Home States in the WMX API ................................................................................................ 3-1 3.2 Home Direction Parameter ............................................................................................................................. 3-3 3.3 Grid Search Velocity Parameter ..................................................................................................................... 3-3 3.4 Grid Search Acceleration Parameter ............................................................................................................... 3-3 3.5 Grid Search Deceleration Parameter ............................................................................................................... 3-3 3.6 Home Switch Search Velocity Parameter ....................................................................................................... 3-3 3.7 Home Switch Search Acceleration Parameter ................................................................................................ 3-3 3.8 Home Switch Search Deceleration Parameter ................................................................................................ 3-4 3.9 Home Switch Reverse Distance Parameter ..................................................................................................... 3-4 3.10 Home Shift Velocity Parameter .................................................................................................................... 3-4 3.11 Home Shift Acceleration Parameter ............................................................................................................. 3-4 3.12 Home Shift Deceleration Parameter ............................................................................................................. 3-4 3.13 Home Shift Distance ..................................................................................................................................... 3-4 3.14 Home Shift Polarity ...................................................................................................................................... 3-5 3.15 Multiple Z-Pulse ........................................................................................................................................... 3-5 3.16 Multiplier Compensation .............................................................................................................................. 3-5 3.17 Pause Mode ................................................................................................................................................... 3-5 3.18 Maximum Home Switch On At Start Reverse Distance ............................................................................... 3-5 3.19 Maximum Limit Switch Reverse Distance ................................................................................................... 3-6 3.20 Z-Pulse Distance Check ................................................................................................................................ 3-6 3.21 Gantry Homing ............................................................................................................................................. 3-6

3.21.1 Gantry Homing Single HS .................................................................................................................... 3-6 3.21.2 Gantry Homing Single LS ..................................................................................................................... 3-7 3.21.3 Gantry Homing Single ZP ..................................................................................................................... 3-7 3.21.4 Gantry Homing Single HSTP ................................................................................................................ 3-7

3.22 Limit Switch Reverse Type .......................................................................................................................... 3-7 Chapter 4: Limit Switch Parameters .......................................................................................................................................... 4-1

4.1 Limit Switch Type .......................................................................................................................................... 4-1 4.2 Positive Limit Switch Type ............................................................................................................................ 4-1 4.3 Negative Limit Switch Type ........................................................................................................................... 4-1 4.4 Limit Switch Polarity ...................................................................................................................................... 4-2 4.5 Near Limit Switch Type .................................................................................................................................. 4-2 4.6 Positive Near Limit Switch Type .................................................................................................................... 4-2 4.7 Negative Near Limit Switch Type .................................................................................................................. 4-2 4.8 Positive Near Limit Switch Byte Address ...................................................................................................... 4-2


Contents

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iv

4.9 Positive Near Limit Switch Bit Address ......................................................................................................... 4-2 4.10 Positive Near Limit Switch Polarity ............................................................................................................. 4-3 4.11 Negative Near Limit Switch Byte Address ................................................................................................... 4-3 4.12 Negative Near Limit Switch Bit Address...................................................................................................... 4-3 4.13 Negative Near Limit Switch Polarity ............................................................................................................ 4-3 4.14 External Limit Switch Type .......................................................................................................................... 4-3 4.15 Positive External Limit Switch Type ............................................................................................................ 4-3 4.16 Negative External Limit Switch Type........................................................................................................... 4-3 4.17 Positive External Limit Switch Byte Address ............................................................................................... 4-4 4.18 Positive External Limit Switch Bit Address ................................................................................................. 4-4 4.19 Positive External Limit Switch Polarity ........................................................................................................ 4-4 4.20 Negative External Limit Switch Byte Address ............................................................................................. 4-4 4.21 Negative External Limit Switch Bit Address ................................................................................................ 4-4 4.22 Negative External Limit Switch Polarity ...................................................................................................... 4-4 4.23 Soft Limit Type ............................................................................................................................................. 4-5 4.24 Positive Software Limit ................................................................................................................................ 4-5 4.25 Negative Software Limit ............................................................................................................................... 4-5 4.26 Limit Switch Deceleration ............................................................................................................................ 4-5 4.27 Limit Switch Slow Deceleration ................................................................................................................... 4-5 4.28 All Limit Switch During Homing ................................................................................................................. 4-5

Chapter 5: Motion Parameters .................................................................................................................................................... 5-1 5.1 Quick Stop Deceleration ................................................................................................................................. 5-1 5.2 E-Stop Deceleration ........................................................................................................................................ 5-1 5.3 Starting Velocity ............................................................................................................................................. 5-1 5.4 End Velocity ................................................................................................................................................... 5-1 5.5 Minimum Velocity .......................................................................................................................................... 5-1 5.6 Prohibit Overtravel ......................................................................................................................................... 5-2 5.7 Linear Interpolation Override Smoothing Percent .......................................................................................... 5-2 5.8 Interrupted Interpolation Use Quick Stop ....................................................................................................... 5-2

Chapter 6: Alarm Parameters ..................................................................................................................................................... 6-1 6.1 Following Error – Stopped .............................................................................................................................. 6-1 6.2 Following Error – Moving .............................................................................................................................. 6-1 6.3 Following Error Type ..................................................................................................................................... 6-1 6.4 Velocity Following Error – Stopped ............................................................................................................... 6-1 6.5 Velocity Following Error – Stopped Time ...................................................................................................... 6-2 6.6 Velocity Following Error – Moving ............................................................................................................... 6-2 6.7 Velocity Following Error – Moving Time ...................................................................................................... 6-2 6.8 Velocity Following Error Type ....................................................................................................................... 6-2 6.9 Servo Off During Amp Alarm ........................................................................................................................ 6-3

Chapter 7: System Parameters ................................................................................................................................................... 7-1 7.1 Axis Unit ......................................................................................................................................................... 7-1 7.2 Open Loop Mode ............................................................................................................................................ 7-1 7.3 Save Flight Recorder....................................................................................................................................... 7-1

Chapter 8: Sync Parameters ....................................................................................................................................................... 8-1 8.1 In Sync Width ................................................................................................................................................. 8-1 8.2 Sync Gain ........................................................................................................................................................ 8-1 8.3 Use Velocity Offset ........................................................................................................................................ 8-1 8.4 Master Desync Type ....................................................................................................................................... 8-1 8.5 Master Desync Deceleration ........................................................................................................................... 8-2 8.6 Slave Desync Type ......................................................................................................................................... 8-2 8.7 Slave Desync Deceleration ............................................................................................................................. 8-2 8.8 Match Position ................................................................................................................................................ 8-2

Chapter 9: System Parameters 2 ................................................................................................................................................ 9-1 9.1 Enable Flight Recorder ................................................................................................................................... 9-1 9.2 Flight Recorder Time Stamp ........................................................................................................................... 9-1

Chapter 10: Other Parameters .................................................................................................................................................. 10-1


Contents

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v

10.1 Axis Command Mode ................................................................................................................................. 10-1 10.2 Gear Ratio Numerator ................................................................................................................................. 10-1 10.3 Gear Ratio Denominator ............................................................................................................................. 10-1 10.4 Single Turn Mode ....................................................................................................................................... 10-2

10.4.1 Positioning Commands for Single Turn Axes ..................................................................................... 10-2 10.5 Single Turn Encoder Count ........................................................................................................................ 10-3 10.6 Maximum Torque Limit ............................................................................................................................. 10-3 10.7 Positive Torque Limit ................................................................................................................................. 10-3 10.8 Negative Torque Limit ................................................................................................................................ 10-4 10.9 Axis Multiplier ............................................................................................................................................ 10-4 10.10 Stop Parameter Mode ................................................................................................................................ 10-4 10.11 Stop Parameter Deceleration ..................................................................................................................... 10-5 10.12 Stop Parameter Time................................................................................................................................. 10-5 10.13 Stop Parameter Velocity Mode ................................................................................................................. 10-5 10.14 Stop Parameter Velocity Deceleration ...................................................................................................... 10-6 10.15 Stop Parameter Velocity Time .................................................................................................................. 10-6

List of Figures

Table 1-1: Parameter Name Mapping ........................................................................................................................ 1-5 Table 3-1: WMX API Home States ........................................................................................................................... 3-2


Chapter 1: WMX API Parameters

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1-1


The parameters that are available in the WMX API are summarized in the following table.

Parameter Type

Parameter Name Units Corresponding Variable Name

in SDK

Feedback Parameters

In Position Width [pulse] InPosWidth

Velocity Monitor Source 0/1 VelocityMonitorSource

Position Completed Width

[pulse] PosCompWidth

DPset Delay 0/1 DPsetDelay

Homing Parameters

Home Type WMX_HOME_TYPE HomeType

Home Direction WMX_HOME_DIR HomeDir

Grid Search Velocity [pulse/s] GridSearchVel

Grid Search Acceleration [pulse/s^2] GridSearchAcc

Grid Search Deceleration [pulse/s^2] GridSearchDec

Home Switch Search Velocity

[pulse/s] HSSearchVel

Home Switch Search Acceleration

[pulse/s^2] HSSearchAcc

Home Switch Search Deceleration

[pulse/s^2] HSSearchDec

Home Switch Reverse Distance

[pulse] HSReverseDistance

Home Shift Velocity [pulse/s] HomeShiftVel

Home Shift Acceleration [pulse/s^2] HomeShiftAcc

Home Shift Deceleration [pulse/s^2] HomeShiftDec

Home Shift Distance [pulse] HomeShiftDistance

Home Switch Polarity 0/1 HSPol

Multiple Z-Pulse 0-100 MultipleZP

Multiplier Compensation 0/1 MultiplierCompensation

Pause Mode 0/1 Pause Mode

Max Home Switch On At Start Reverse Distance

[pulse] MaxHSOnAtStartReverseDist

ance



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1-2

Max Limit Switch Reverse Distance

[pulse] MaxLSReverseDistance

ZP Distance Check [pulse] ZPDistanceCheck

Gantry Homing 0/1 GantryHoming

Gantry Homing Single HS

0/1 GantryHomingSingleHS

Gantry Homing Single LS 0/1 GantryHomingSingleLS

Gantry Homing Single ZP 0/1 GantryHomingSingleZP

GantryHomingSingleHSTP

0/1 GantryHomingSingleHSTP

Limit Switch Reverse Type

0/1 LimitSwitchReverseType

Limit Switch Parameters

Limit Switch Type WMX_LIMITSWITCH_TYPE LSType

Positive Limit Switch Type

WMX_LIMITSWITCH_TYPE PLSType

Negative Limit Switch Type

WMX_LIMITSWITCH_TYPE NLSType

Limit Switch Polarity 0/1 LSPol

Near Limit Switch Type WMX_LIMITSWITCH_TYPE NearLSType

Positive Near Limit Switch Type

WMX_LIMITSWITCH_TYPE NearPLSType

Negative Near Limit Switch Type

WMX_LIMITSWITCH_TYPE NearNLSType

Positive Near Limit Switch Byte Address

0 – MAX_IOINSIZE NearPLSByte

Positive Near Limit Switch Bit Address

0 – MAX_IOINSIZE NearPLSBit

Positive Near Limit Switch Polarity

0/1 NearPLSPol

Negative Near Limit Switch Byte Address

0 – MAX_IOINSIZE NearNLSByte

Negative Near Limit Switch Bit Address

0 – MAX_IOINSIZE NearNLSBit

Negative Near Limit Switch Polarity

0/1 NearNLSPol

External Limit Switch Type

WMX_LIMITSWITCH_TYPE ExtLSType

Positive External Limit Switch Type

WMX_LIMITSWITCH_TYPE ExtPLSType



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1-3

Negative External Limit Switch Type

WMX_LIMITSWITCH_TYPE ExtNLSType

Positive External Limit Switch Byte Address

0 – MAX_IOINSIZE ExtPLSByte

Positive External Limit Switch Bit Address

0 – MAX_IOINSIZE ExtPLSBit

Positive External Limit Switch Polarity

0/1 ExtPLSPol

Negative External Limit Switch Byte Address

0 – MAX_IOINSIZE ExtNLSByte

Negative External Limit Switch Bit Address

0 – MAX_IOINSIZE ExtNLSBit

Negative External Limit Switch Polarity

0/1 ExtNLSPol

Soft Limit Type WMX_LIMITSWITCH_TYPE SoftLimitType

Positive Soft Limit Type WMX_LIMITSWITCH_TYPE PSoftLimitType

Negative Soft Limit Type WMX_LIMITSWITCH_TYPE NSoftLimitType

Positive Software Limit [pulse] SoftLimitPPos

Negative Software Limit [pulse] SoftLimitNPos

Limit Switch Deceleration [pulse/s^2] LSDec

Limit Switch Slow Deceleration

[pulse/s^2] LSSlowDec

All Limit Switch During Homing

0/1 AllLSDuringHoming

Motion Parameters

Quick Stop Deceleration [pulse/s^2] QStopDec

E-Stop Deceleration [pulse/s^2] EStopDec

Starting Velocity [pulse/s] StartingVelocity

End Velocity [pulse/s] EndVelocity

Minimum Velocity [pulse/s] MinimumVelocity

Prohibit Overtravel 0/1 ProhibitOvertravel

Linear Interpolation Override

SmoothingPercent [pulse] LinIntOvrdSmoothPercent

Interrupted Interpolation Use Quick Stop

0/1 InterruptedIntplUseQuickStop

Alarm Parameters

Following Error – Stopped

[pulse] FollowingErrorStopped



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1-4

Following Error – Moving [pulse] FollowingErrorMoving

Following Error Type WMX_ALARM_FOLLOWIN

G_ERROR_TYPE FollowingErrorType

Velocity Following Error – Stopped

[pulse/s] VelFollowingErrorStopped

Velocity Following Error – Stopped Time

[s] VelFollowingErrorStoppedTim

e

Velocity Following Error – Moving

[pulse/s] VelFollowingErrorMoving

Velocity Following Error – Moving Time

[s] VelFollowingErrorMovingTim

e

Velocity Following Error Type

WMX_ALARM_VELOCITY_FOLLOWING_ERROR_TYP

E VelFollowingErrorType

Servo Off During Amp Alarm

0/1 ServoOffDuringAmpAlarm

System Parameters

Axis Unit [pulse] AxisUnit

Open Loop Mode 0/1 OpenLoopMode

SaveFlightRecorder 0/1 SaveFlightRecorder

Sync Parameters

In Sync Width [pulse] InSyncWidth

Sync Gain [1/s] SyncGain

Use Velocity Offset 0/1 UseVelocityOffset

Master Desync Type WMX_MASTER_DESYNC_

TYPE MasterDesyncType

Master Desync Deceleration

[pulse/s^2] MasterDesyncDec

Slave Desync Type WMX_SLAVE_DESYNC_T

YPE SlaveDesyncType

Slave Desync Deceleration

[pulse/s^2] SlaveDesyncDec



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1-5

Match Position 0/1 MatchPosition

System Parameters 2

Enable Flight Recorder 0/1 EnableFlightRecorder

Flight Recorder Time Stamp

0/1 FlightRecorderTimeStamp

Table 1-1: Parameter Name Mapping


Chapter 2: Feedback Parameters

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2-1


2.1 In Position Width Parameter

Minimum Value: 0

Maximum Value: 2147483647

Default Value: 1000

The width of the window centered at the commanded position. When the actual position falls into this window, the

axis is considered to be in position. The units are encoder counts.

The "In Position Width 2," "In Position Width 3," "In Position Width 4," and "In Position Width 5" parameters

determine the in position width of the "In Position 2," "In Position 3," "In Position 4," and "In Position 5" statuses.

The in-position state is determined differently while executing different commands, as explained in the following

sections.

2.1.1 In Position State for Idle Axes

An axis that is idle will be in position if the absolute difference between the feedback position and the cyclic

command position is within the in position width.

2.1.2 In Position State for Axes Executing Position Commands

An axis that is executing an absolute or relative position command will be in position if the absolute difference

between the feedback position and the target position of the position command is within the in position width.

2.1.3 In Position State for Axes Executing Interpolation Commands

An axis that is executing a linear interpolation command will be in position if the absolute difference between the

cyclic command position and the target position of the interpolation command for that axis is within the in position

width. The feedback positions from the interpolating axes are not considered when calculating the in position state.

An axis that is executing a circular interpolation command will be in position if the arc length between the current

position on the interpolation arc and the target position on the interpolation arc is within the in position width. The

feedback positions from the interpolating axes are not considered when calculating the in position state.

2.1.4 In Position State for Axes Executing Other Commands

An axis that is executing any other command, including home commands, jog commands, and stop commands, will

not be considered to be in position until the command is finished and the axis becomes idle.

2.1.5 In Position State for Sync Axes

A sync slave axis whose master axis is executing a position command will be in position if the absolute difference

between the feedback position of the slave axis and the target position of the position command, shifted by the sync

offset between the master axis and the slave axis when synchronous control was established, is within the in position

width of the slave axis.



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2-2

A sync slave axis whose master axis is idle will be in position if the absolute difference between the feedback

position of the slave axis and the cyclic command position of the slave axis is within the in position width.

A sync slave axis whose master is executing any other command, including jog commands and stop commands, or

whose master is a sync slave axis of another axis, will not be considered to be in position.

2.1.6 In Position State for Single Turn Axes

A single turn axis that is idle will be in position if the absolute difference between the feedback position and the

cyclic command position is within the in position width.

Wraparound around the single turn encoder count range is considered when calculating the in position width while

the axis is idle. For example, if the single turn encoder count is 1000 pulses, the in position width is 100 pulses, and

the cyclic command position is 0, the axis will be in position if the feedback position is between 900-999 or between

0-100.

A single turn axis that is executing a position command will be in position if the absolute difference between the

feedback position and the target position of the position command is within the in position width.

If the distance commanded by the position command causes the axis to move more than one single turn encoder

count, the axis will be considered to be in position each time it moves past the target position. For example, if the

single turn encoder count is 1000 pulses, and a relative position command of 5000 pulses is executed, the axis will

wrap around the single turn range five times. Each time the axis passes the target position, the axis will be in

position as long as the distance between the feedback position and the target position is within the in position width.

Wraparound around the single turn encoder count range is considered when calculating the in position width during

the execution of a position command. For example, if the single turn encoder count is 1000 pulses, the in position

width is 200 pulses, and a relative position command of 1100 pulses is executed when the axis is at 0 position, the in

axis will be in position at positions 900 to 999 and 0 to 100.

A single turn axis that is executing a linear interpolation command will be in position if the absolute difference

between the cyclic command position and the target position of the interpolation command for that axis is within the

in position width. The feedback positions from the interpolating axes are not considered when calculating the in

position state.

Wraparound around the single turn encoder count range is NOT considered when calculating the in position width

during the execution of a linear interpolation command.

A single turn axis that is executing a circular interpolation command will be in position if the arc length between the

current position on the interpolation arc and the target position on the interpolation arc is within the in position width.

The feedback positions from the interpolating axes are not considered when calculating the in position state.

Wraparound around the single turn encoder count range is NOT considered when calculating the in position width

during the execution of a circular interpolation command.

A single turn axis that is executing any other command, including home commands, jog commands, and stop

commands, will not be considered to be in position until the command is finished and the axis becomes idle.

2.2 Velocity Monitor Source

Allowed Values: 0 (Calculate from position feedback), 1 (Obtain velocity feedback from servo)

Default Value: 0



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2-3

This parameter determines whether the velocity status is calculated from the position feedback, or is obtained

directly from the servo as velocity feedback.

For most servos, obtaining the velocity feedback directly from the servo is more accurate and is more responsive to

changes in velocity. However, some servos are unable to report velocity feedback.

To obtain velocity feedback directly from the servo, the Init file for that servo must have object 0x606c, "Velocity

Actual Value," mapped to the PDO.

2.3 Positioning Completed Width

Minimum Value: 0


Default Value: 1000

The width of the window centered at the target position at which the PsetFlag status can be raised. The PsetFlag

status is set to 1 when the axis position is within this width from the target position and the command output is

completed.

2.4 DPset Delay

Minimum Value: 0


Default Value: 0

The number of consecutive cycles that Pset must be 1 for DPset to become 1. When Pset becomes 0, DPset

immediately becomes 0, regardless of the value of this parameter.


Chapter 3: Home Parameters

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3-1


3.1 Home Type Parameter

Default Value: WMX_HOME_CURPOS

The method of homing during a home operation. The available choices are as follows:

WMX_HOME_CURPOS – Home using the CURPOS home type.Set the current position as the home

position.

WMX_HOME_ZP – Home using the ZP home type.Search for the Z pulse.

WMX_HOME_HS – Home using the HS home type Search for the home switch.

WMX_HOME_HS_HS – Home using the HS_HS home type. Search for the home switch. When the

home switch is detected, move back the home switch reverse distance, then search for the home switch at

the grid search feedrate.

WMX_HOME_HS_ZP – Home using the HS_ZP home type. Search for the home switch. When the home

switch is detected, search for the Z pulse.

WMX_HOME_HS_REV_ZP – Home using the HS_REV_ZP home type. Search for the home switch.

When the home switch is detected, search for the Z-pulse in the direction opposite to the home switch.

WMX_HOME_LS_REV_ZP – Home using the LS_REV_ZP home type. Search for the on-servohard limit

switch in the direction of the Home Direction parameter. When the Home Direction is forward, the positive

on-servo hard limit switch is searched. When the Home Direction is backward, the negative on-servo hard

limit switch is searched. When the appropriate limit switch is detected, search for the Z pulse in the

direction opposite to the limit switch.

WMX_HOME_LS_REV_ZP_NEAR – Home using the LS_REV_ZP_NEAR home type. Search for the

near limit switch in the direction of the Home Direction parameter. When the Home Direction is forward,

the positive near limit switch is searched. When the Home Direction is backward, the negative near limit

switch is searched. When the appropriate limit switch is detected, search for the Z pulse in the direction

opposite to the limit switch.

WMX_HOME_LS_REV_ZP_EXT – Home using the LS_REV_ZP_EXT home type. Search for the

external limit switch in the direction of the Home Direction parameter. When the Home Direction is

forward, the positive external limit switch is searched. When the Home Direction is backward, the negative

external limit switch is searched. When the appropriate limit switch is detected, search for the Z pulse in

the direction opposite to the limit switch.

WMX_HOME_HSTP – Home using the HSTP home type. Search for a touch probe.

WMX_HOME_HS_HSTP – Home using the HS_HSTP home type. Search for the home switch. When

the home switch is detected, move back the home switch reverse distance, then search for a touch probe at

the grid search velocity.

WMX_HOME_LS – Home using the LS home type. Search for the limit switch.

WMX_HOME_LS_NEAR – Home using the LS_NEAR home type. Search for the positive or negative

near limit switch.

WMX_HOME_LS_EXT – Home using the LS_EXT home type. Search for the positive or negative

external limit switch.

See the WMX Function Manual for additional information regarding the available home types.

3.1.1 Names of Home States in the WMX API

The following table summarizes the equivalent home state names in the WMX API.

WMX Console Name WMX API Name



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3-2

Not Homedand Home Done WMX_HOME_STATE_IDLE

ZP Search WMX_HOME_STATE_ZP_SEARCH

Rev ZP Search WMX_HOME_STATE_ZP_SEARCH_REV

Paused(Rev ZP Search) WMX_HOME_STATE_ZP_SEARCH_REV_PAUSE

HS Search WMX_HOME_STATE_HS_SEARCH

HS and ZP search WMX_HOME_STATE_HS_AND_ZP_SEARCH

Paused (HS and ZP search) WMX_HOME_STATE_HS_AND_ZP_SEARCH_PAUSE

LS Search WMX_HOME_STATE_LS_SEARCH

Paused (LS Search) WMX_HOME_STATE_LS_SEARCH_PAUSE

HS Clear WMX_HOME_STATE_HS_CLEAR_REV

Paused (HS Clear) WMX_HOME_STATE_HS_CLEAR_REV_PAUSE

HS Falling Edge Search WMX_HOME_STATE_HS_FALLING_EDGE_SEARCH_REV

Paused (HS Falling Edge Search) WMX_HOME_STATE_HS_FALLING_EDGE_SEARCH_REV_PAUSE

LS Falling Edge Search WMX_HOME_STATE_LS_FALLING_EDGE_SEARCH_REV

Paused(LS Falling Edge Search) WMX_HOME_STATE_LS_FALLING_EDGE_SEARCH_REV_PAUSE

HSTP Search WMX_HOME_STATE_HSTP_SEARCH

Paused (HSTP Search) WMX_HOME_STATE_HSTP_SEARCH_PAUSE

Second HS Search WMX_HOME_STATE_SECOND_HS_SEARCH

Paused (Second HS Search) WMX_HOME_STATE_SECOND_HS_SEARCH_PAUSE

Second HSTP Search WMX_HOME_STATE_SECOND_HSTP_SEARCH

Paused (Second HSTP Search) WMX_HOME_STATE_SECOND_HSTP_SEARCH_PAUSE

Home Shift WMX_HOME_STATE_HOME_SHIFT

Paused (Home Shift) WMX_HOME_STATE_HOME_SHIFT_PAUSE

Canceling Homing WMX_HOME_STATE_CANCEL

Other State WMX_HOME_STATE_OTHER

Table 3-1: WMX API Home States



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3-3

3.2 Home Direction Parameter

Allowed Values: WMX_HOME_DIR_NORM (Forward), WMX_HOME_DIR_REV (Backward)

Default Value: WMX_HOME_DIR_NORM

The direction to search for home during a home operation. The choices are forward and backward.

3.3 Grid Search Velocity Parameter

Minimum Value: 1


Default Value: 10000

The velocity to use while searching for the home switch, in units of pulses per second.See the WMX Function

Manual for additional information regarding how this value is used by each home type.

3.4 Grid Search Acceleration Parameter

Minimum Value: 1



The acceleration to use while searching for the home switch, in units of pulses per second squared. See the WMX

Function Manual for additional information regarding how this value is used by each home type.

3.5 Grid Search Deceleration Parameter

Minimum Value: 1



The deceleration to use while searching for the home switch, in units of pulses per second squared. See the WMX


3.6 Home Switch Search Velocity Parameter

Minimum Value: 1



The velocity to use while rapidly searching for the home switch, in units of pulses per second. See the WMX


3.7 Home Switch Search Acceleration Parameter

Minimum Value: 1



The acceleration to use while rapidly searching for the home switch, in units of pulses per second squared. See the

WMX Function Manual for additional information regarding how this value is used by each home type.



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3-4

3.8 Home Switch Search Deceleration Parameter

Minimum Value: 1



The deceleration to use while rapidly searching for the home switch, in units of pulses per second squared. See the

WMX Function Manual for additional information regarding how this value is used by each home type.

3.9 Home Switch Reverse Distance Parameter

Minimum Value: 0


Default Value: 0

The distance to reverse when the home switch is found, in units of pulses.

3.10 Home Shift Velocity Parameter

Minimum Value: 1



The velocity to use while moving the home shift distance after the home position is found, in units of pulses per

second.

3.11 Home Shift Acceleration Parameter

Minimum Value: 1



The acceleration to use while moving the home shift distance after the home position is found, in units of pulses per

second squared.

3.12 Home Shift Deceleration Parameter

Minimum Value: 1



The deceleration to use while moving the home shift distance after the home position is found, in units of pulses per

second squared.

3.13 Home Shift Distance

Minimum Value: -2147483647


Default Value: 0



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3-5

The distance to move after the home position is found, in pulses. A positive value indicates movement in the

direction of homing and a negative value indicates movement in the direction opposite to the direction of homing

(the direction of homing is determined by the Home Direction parameter). The shifted position becomes the actual

home position.

3.14 Home Shift Polarity

Allowed Values: 0 (Active Low), 1 (Active High)

Default Value: 1

Whether the home switch is active when high or active when low.

3.15 Multiple Z-Pulse

Minimum Value: 0

Maximum Value: 100

Default Value: 0

For home types that search for the Z-pulse, the number of Z-pulses to search for before setting the home position. If

set to 0 or 1, the home position will be set at the position of the first Z-pulse.

3.16 Multiplier Compensation

Allowed Values: 0 (Disabled), 1 (Enabled)

Default Value: 0

Whether to apply an additional compensation offset to the command position after homing. If set to Disabled, the

remainder command pulses after dividing the home offset by the Axis Multiplier parameter will remain after homing.

If set to Enabled, any extra command pulses smaller than the Axis Multiplier parameter will be cleared after homing.

3.17 Pause Mode


Default Value: 0

Whether to pause at certain points during homing. While paused, the axis will not move. The axis servo may be

turned on or off while paused without canceling the home operation.

To continue the homing operation from the paused state, use the ContinueHome() API function or press the

Continue button in the Home Operation control window in WMX Console.

3.18 Maximum Home Switch On At Start Reverse Distance

Minimum Value: 0


Default Value: 0

For certain home types, the axis will reverse to clear the home switch or touch probe if it is already tripped when

homing is started. For these home types, this parameter determines the maximum distance the axis can reverse to

clear the home switch of touch probe.If this maximum distance is exceeded, the axis will decelerate to a stop at the



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3-6

Home Switch Search Deceleration and abort the home operation.If this parameter is set to 0, there will be no limit to

the reverse travel distance.

Currently, this parameter is applicable to the HS, HS_HS, HS_ZP, HS_REV_ZP, HSTP, and HS_HSTP home types.

3.19 Maximum Limit Switch Reverse Distance

Minimum Value: 0


Default Value: 0

For certain home types, if a limit switch is triggered while searching for the home switch or touch probe, the axis

will reverse to clear the limit switch and find the home switch or touch probe in the opposite direction. For these

home types, this parameter determines the maximum distance the axis can reverse to clear the limit switch and find

the home switch or touch probe in the opposite direction. If this maximum distance is exceeded, the axis will

decelerate to a stop at the Home Switch Search Deceleration and abort the home operation. If this parameter is set

to 0, there will be no limit to the reverse travel distance.

Currently, this parameter is applicable to the HS, HS_HS, HS_ZP, HS_REV_ZP, HSTP, and HS_HSTP home types.

3.20 Z-Pulse Distance Check

Minimum Value: 0


Default Value: 0

If set to a non-zero value, whenever a homing procedure that searches for multiple Z-pulses is performed, the

distance between successive Z-pulses is checked. If the distance does not equal the distance specified in this

parameter, a home error will be generated.

3.21 Gantry Homing


Default Value: 0

If the master axis is set to enabled (1), homing for synchronized pairs or groups of axes will use the home switches,

limit switches, Z-Pulses, and/or touch probes of the master axis and all slave axes.

In addition, when Gantry Homing is enabled, each master and slave axes will independently move the home shift

distance set for the each axes.

If Gantry Homing parameter is disabled (0) on the master axis, only the home switch, limit switch, Z-pulse, and/or

touch probe of the master axis will be used, and the slave axes will follow the motion of the master axis throughout

the entire homing operation. Slave axes’ home shift distance parameters will be ignored and their Home Done flags

will not be set at the end of homing.

See WMX Functions Manual Chapter 1, Section 1.18: Gantry Homing for operation specifics of gantry homing.

3.21.1 Gantry Homing Single HS


Default Value: 0



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3-7

If Gantry Homing Single HS is enabled on the master axis when Gantry Homing parameter is also enabled, only the

home switch of the Master axis is used during gantry homing, if the home type uses a home switch.

If Gantry Homing Single HS is disabled on the master axis when Gantry Homing parameter is enabled, home

switches of the Master axis and all slave axes will be used during gantry homing, if the home type uses a home

switch.

This parameter is only applicable if the Gantry Homing parameter on the Master axis is set to Enabled.

3.21.2 Gantry Homing Single LS


Default Value: 0

If Gantry Homing Single LS is enabled on the master axis when Gantry Homing parameter is also enabled, only the

limit switch of the master axis will be used during gantry homing, if the home type uses limit switches.

If Gantry Homing Single LS is disabled on the Master axis when Gantry Homing parameter is enabled, limit

switches of the Master axis and all slave axes are used during gantry homing, if the home type uses limit switches.


3.21.3 Gantry Homing Single ZP


Default Value: 0

If Gantry Homing Single ZP is enabled on the Master axis when Gantry Homing parameter is also enabled, only the

Z-pulse of the Master axis will be used during gantry homing, if the home type uses Z-pulses.

If Gantry Homing Single ZP is disabled on the Master axis when Gantry Homing parameter is enabled, then Z-

pulses of the Master axis and all slave axes are used during gantry homing, if the home type uses Z-pulses.


3.21.4 Gantry Homing Single HSTP


Default Value: 0

If Gantry Homing Single HSTP is enabled on the Master axis when Gantry Homing parameter is also enabled, only

the touch probe of the Master axis will be used during gantry homing, if the home type uses the touch probe.

If Gantry Homing Single HSTP is disabled on the Master axis when Gantry Homing parameter is enabled, then the

touch probes of the Master axis and all slave axes are used during gantry homing, if the home type uses the touch

probes.


3.22 Limit Switch Reverse Type

Allowed Values: 0 (Normal), 1 (Type 1)



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3-8

Default Value: 0

If the Limit Switch Reverse Type is set to Type 1, the axis will immediately stop after detecting the limit switch, if

the home type uses limit switches. No position commands beyond the position where the limit switch was detected

will be sent to the servo.

This parameter is for servos that ignore position commands beyond the position where the limit switch was detected.


Chapter 4: Limit Switch Parameters

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4-1


4.1 Limit Switch Type

Default Value: WMX_LIMITSWITCH_NONE

The behavior of the positive and negative limit switches when triggered. The available choices are as follows:

WMX_LIMITSWITCH_NONE– Do nothing. Select this setting if the servo handles the limit switch.

WMX_LIMITSWITCH_SVO_OFF– Immediately turn the servo off.

WMX_LIMITSWITCH_DEC_SVO_OFF– Decelerate to a stop using the Limit Switch Deceleration, then

turn the servo off.

WMX_LIMITSWITCH_DEC– Decelerate to a stop using the Limit Switch Deceleration.

WMX_LIMITSWITCH_SLOW_DEC_SVO_OFF– Decelerate to a stop using the Limit Switch Slow

Deceleration, then turn the servo off.

WMX_LIMITSWITCH_SLOW_DEC– Decelerate to a stop using the Limit Switch Slow Deceleration.

WMX_LIMITSWITCH_SEPARATE_PLSNLS - Specify the Limit Switch Type separately for the positive

limit switch and the negative limit switch.

When a limit switch is triggered, further motion in the direction of the limit switch will be canceled. If a positive

limit switch is triggered, motion in the positive direction will be canceled. If a negative limit switch is triggered,

motion in the negative direction will be canceled.

For certain home types, the limit switch type will be ignored and the limit switch will be used in a special homing

procedure.

4.2 Positive Limit Switch Type


This parameter determines the limit switch type for the positive limit switch, if the Limit Switch Type parameter is

set to WMX_LIMITSWITCH_SEPARATE_PLSNLS. If the Limit Switch Type parameter is set to anything else,

this parameter is ignored.

4.3 Negative Limit Switch Type


Limit switches will not trigger if the axis is traveling in the direction opposite to the

limit switch.A positive limit switch will trigger only if the axis is traveling in the

positive direction or is not moving. A negative limit switch will trigger only if the

axis is traveling in the negative direction or is not moving.

CAUTION !



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4-2

This parameter determines the limit switch type for the negative limit switch, if the Limit Switch Type parameter is

set to WMX_LIMITSWITCH_SEPARATE_PLSNLS. If the Limit Switch Type parameter is set to anything else,

this parameter is ignored.

4.4 Limit Switch Polarity


Default Value: 1

Whether the positive and negative limit switches are active when high or active when low.

4.5 Near Limit Switch Type


The behavior of the positive and negative near limit switches when triggered. Near limit switches are general

purpose limit switches that may be mapped to any I/O input. Functionally, they are identical to external limit

switches.See Section 4.1: Limit Switch Type for information regarding the available limit types.

4.6 Positive Near Limit Switch Type


This parameter determines the limit switch type for the positive near limit switch, if the Near Limit Switch Type

parameter is set to WMX_LIMITSWITCH_SEPARATE_PLSNLS. If the Near Limit Switch Type parameter is set

to anything else, this parameter is ignored.

4.7 Negative Near Limit Switch Type


This parameter determines the limit switch type for the negative near limit switch, if the Near Limit Switch Type

parameter is set to WMX_LIMITSWITCH_SEPARATE_PLSNLS. If the Near Limit Switch Type parameter is set

to anything else, this parameter is ignored.

4.8 Positive Near Limit Switch Byte Address

Minimum Value: 0

Maximum Value: 1449

Default Value: 0

The byte address of the positive near limit switch I/O input.

4.9 Positive Near Limit Switch Bit Address

Minimum Value: 0

Maximum Value: 7

Default Value: 0

The bit address of the positive near limit switch I/O input.



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4-3

4.10 Positive Near Limit Switch Polarity


Default Value: 1

Whether the positive near limit switch is active when high or active when low.

4.11 Negative Near Limit Switch Byte Address

Minimum Value: 0

Maximum Value: 1449

Default Value: 0

The byte address of the negative near limit switch I/O input.

4.12 Negative Near Limit Switch Bit Address

Minimum Value: 0

Maximum Value: 7

Default Value: 0

The bit address of the negative near limit switch I/O input.

4.13 Negative Near Limit Switch Polarity


Default Value: 1

Whether the negative near limit switch is active when high or active when low.

4.14 External Limit Switch Type


The behavior of the positive and negative external limit switches when triggered. External limit switches are general

purpose limit switches that may be mapped to any I/O input. Functionally, they are identical to near limit switches.

See Section 4.1: Limit Switch Type for information regarding the available limit types.

4.15 Positive External Limit Switch Type


This parameter determines the limit switch type for the positive external limit switch, if the External Limit Switch

Type parameter is set to WMX_LIMITSWITCH_SEPARATE_PLSNLS. If the External Limit Switch Type

parameter is set to anything else, this parameter is ignored.

4.16 Negative External Limit Switch Type




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4-4

This parameter determines the limit switch type for the negative external limit switch, if the External Limit Switch

Type parameter is set to WMX_LIMITSWITCH_SEPARATE_PLSNLS. If the External Limit Switch Type

parameter is set to anything else, this parameter is ignored.

4.17 Positive External Limit Switch Byte Address

Minimum Value: 0

Maximum Value: 1449

Default Value: 0

The byte address of the positive external limit switch I/O input.

4.18 Positive External Limit Switch Bit Address

Minimum Value: 0

Maximum Value: 7

Default Value: 0

The bit address of the positive external limit switch I/O input.

4.19 Positive External Limit Switch Polarity


Default Value: 1

Whether the positive external limit switch is active when high or active when low.

4.20 Negative External Limit Switch Byte Address

Minimum Value: 0

Maximum Value: 1449

Default Value: 0

The byte address of the negative external limit switch I/O input.

4.21 Negative External Limit Switch Bit Address

Minimum Value: 0

Maximum Value: 7

Default Value: 0

The bit address of the negative external limit switch I/O input.

4.22 Negative External Limit Switch Polarity


Default Value: 1

Whether the negative external limit switch is active when high or active when low.



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4-5

4.23 Soft Limit Type


The behavior of the software limits when triggered. Software limits are triggered when an axis reaches thePositive

Software Limit or Negative Software Limit positions. Software limits are triggered only when homing has been

completed and the home done status is true. See Section 4.1: Limit Switch Type for information regarding the

available limit types.

4.24 Positive Software Limit

Minimum Value: 0

Maximum Value: None

Default Value: 0

The positive position at which the software limit will be triggered. This value must be a positive value or zero. If

this value is set to 0, there will be no software limit in the positive direction.

4.25 Negative Software Limit

Minimum Value: None

Maximum Value: 0

Default Value: 0

The negative position at which the software limit will be triggered. This value must be a negative value or zero. If

this value is set to 0, there will be no software limit in the negative direction.

4.26 Limit Switch Deceleration

Minimum Value: 1



The deceleration to stop the axis at when the limit switch is triggered for the “DEC_SVO_OFF” and “DEC” limit

switch types.

4.27 Limit Switch Slow Deceleration

Minimum Value: 1



The deceleration to stop the axis at when the limit switch is triggered for the “SLOW_DEC_SVO_OFF” and

“SLOW_DEC” limit switch types.

4.28 All Limit Switch During Homing


Default Value: 0



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4-6

If enabled, all limit switches, even those opposite to the direction that the axis is traveling in, are able to be triggered

during homing. If disabled, limit switches will only trigger when the axis is traveling in that direction.

This parameter is used to prevent accidents caused by reversing the placement of the positive and negative limit

switches.

This parameter applies only while performing a homing operation.


Chapter 5: Motion Parameters

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5-1


5.1 Quick Stop Deceleration

Minimum Value: 1



The deceleration to stop the axis at when the axis is stopped using quick stop. The difference between quick stop

and regular stop are:

Quick stop uses the “Quick Stop Deceleration” parameter as the deceleration rate. Regular stop uses the

deceleration parameter that was specified for the command.

Quick stop always uses a trapezoidal motion profile. Regular stop uses the profile that was specified for

the command (when stopping home commands, a trapezoidal profile is used).

A regular stop can be overridden by a quick stop, but a quick stop cannot be overridden by a regular stop.

5.2 E-Stop Deceleration

Minimum Value: 1



The deceleration to stop the axis at when the axis is stopped using E-Stop (emergency stop) while the “E-Stop Type”

parameter is set to “DEC_STOP.”

5.3 Starting Velocity

Minimum Value: 0


Default Value: 0

The starting velocity that is used by certain position commands. These position commands do not take the starting

velocity as a function argument. See the WMX API Reference Manual for further information.

5.4 End Velocity

Minimum Value: 0


Default Value: 0

The end velocity that is used by certain position commands. These position commands do not take the end velocity

as a function argument. See the WMX API Reference Manual for further information.

5.5 Minimum Velocity

Minimum Value: 0


Default Value: 0



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5-2

The minimum velocity that the axis may move at during most position commands. The minimum velocity is not

applied during interpolation commands.

5.6 Prohibit Overtravel


Default Value: 0

If disabled, if the axis executes a motion command with an initial velocity that is high enough such that the axis

cannot decelerate to a stop before reaching the target position, then the axis will move past the target position,

decelerate to a stop, then reverse direction to return to the target position. If enabled, at the execution of the motion

command, the axis will suddenly decelerate to a velocity low enough that the axis can decelerate to a stop to reach

the target position.

5.7 Linear Interpolation Override Smoothing Percent

Minimum Value: 0(%)

Maximum Value: 100(%)

Default Value: 30(%)

When a linear interpolation command overrides another linear interpolation command, the motion between the two

linear interpolation commands is smoothed out by this percentage. During the smoothing motion, the commanded

axes are not linearly interpolated.

The time that the smoothing motion is applied to the override linear interpolation command, will not be greater than

this percentage of the total execution time of that command, and the distance that the smoothing motion is applied to

the override linear interpolation command will not be greater than this percentage of the total travel distance of that

command.

If set to 0, the axis will immediately execute the override linear interpolation command, even if it would cause one

or more of the interpolated axes to experience sudden acceleration or deceleration.

5.8 Interrupted Interpolation Use Quick Stop


Default Value: 1

If an interpolation is interrupted due to one of the axes triggering a limit switch, reaching the software limit,

generating an amp alarm, or for any other reason, the other axes that were executing that interpolation command will

decelerate to a stop. This parameter determines the manner at which these other axes decelerate.

Axes for which this parameter is set to 1 will ignore the other interpolating axes and will decelerate independently

with a trapezoidal profile and a deceleration equal to the "Quick Stop Deceleration" parameter of that axis.

Axes for which this parameter is set to 0 will decelerate along the original interpolated path, retaining the composite

deceleration that was specified for the original interpolation command. For example, if the X, Y, and Z axes are

performing a linear interpolation and the Z axis servo is turned off, the X and Y axes will decelerate to a stop while

maintaining interpolation between these two axes.


Chapter 6: Alarm Parameters

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6-1


6.1 Following Error – Stopped

Minimum Value: 0



The maximum difference between the command position and feedback position that can be tolerated while the axis

is idle before a following error alarm is triggered. A following error alarm will never be triggered while the axis is

idle if this value is set to 0. This parameter only applies to position mode axes.

6.2 Following Error – Moving

Minimum Value: 0



The maximum difference between the command position and feedback position that can be tolerated while the axis

is executing a command before a following error alarm is triggered. A following error alarm will never be triggered

while the axis is executing a command if this value is set to 0. This parameter only applies to position mode axes.

6.3 Following Error Type

Default Value: WMX_ALARM_FOLLOWING_ERROR_TYPE_NOACTION

This parameter determines whether the following error alarm is enabled, and the action that is performed when the

following error alarm is triggered. A following error alarm is triggered whenever the difference between the

command position and the feedback position of an axis exceeds the “Following Error – Stopped” or “Following

Error – Moving” parameter, depending on whether the axis is currently executing a command or not. The available

options are as follows:

WMX_ALARM_FOLLOWING_ERROR_TYPE_NOACTION – The following error alarm will be

disabled and never be triggered.

WMX_ALARM_FOLLOWING_ERROR_TYPE_QSTOP – The axis will decelerate to a stop at the

“Quick Stop Deceleration” rate when the following error alarm is triggered. Then, the axis will not accept

commands until the following error alarm is cleared.

This parameter only applies to position mode axes.

6.4 Velocity Following Error – Stopped

Minimum Value: 0



The maximum difference between the command velocity and feedback velocity that can be tolerated while the axis

is idle before a following error alarm is triggered. A following error alarm will never be triggered while the axis is

idle if this value is set to 0. This parameter only applies to velocity mode axes.



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6-2

6.5 Velocity Following Error – Stopped Time

Minimum Value: 0


Default Value: 0

If not 0, a following error will only be generated if the difference between the command velocity and feedback

velocity exceeds the “Velocity Following Error – Stopped” parameter for this amount of time while the axis is idle.

This parameter only applies to velocity mode axes.

6.6 Velocity Following Error – Moving

Minimum Value: 0



The maximum difference between the command velocity and feedback velocity that can be tolerated while the axis

is executing a command before a following error alarm is triggered. A following error alarm will never be triggered

while the axis is executing a command if this value is set to 0. This parameter only applies to velocity mode axes.

6.7 Velocity Following Error – Moving Time

Minimum Value: 0


Default Value: 0

If not 0, a following error will only be generated if the difference between the command velocity and feedback

velocity exceeds the “Velocity Following Error – Stopped” parameter for this amount of time while the axis is

executing a command. This parameter only applies to velocity mode axes.

6.8 Velocity Following Error Type

Default Value: WMX_ALARM_VELOCITY_FOLLOWING_ERROR_TYPE_NOACTION

This parameter determines whether the following error alarm is enabled, and the action that is performed when the

following error alarm is triggered. A following error alarm is triggered whenever the difference between the

command velocity and the feedback velocity of an axis exceeds the “Velocity Following Error – Stopped” or

“Velocity Following Error – Moving” parameter, depending on whether the axis is currently executing a command

or not. The available options are as follows:

WMX_ALARM_VELOCITY_FOLLOWING_ERROR_TYPE_ NOACTION – The following error alarm

will be disabled and never be triggered.

WMX_ALARM_VELOCITY_FOLLOWING_ERROR_TYPE_ QSTOP – The axis will decelerate to a

stop at the “Quick Stop Deceleration” rate when the following error alarm is triggered. Then, the axis will

not accept commands until the following error alarm is cleared.

WMX_ALARM_VELOCITY_FOLLOWING_ERROR_TYPE_WARNING – The axis will trigger a

following error alarm, but perform no further action. The axis will continue to accept commands even

while the following error alarm remains on.




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6-3

6.9 Servo Off During Amp Alarm


Default Value: 1

This parameter determines if a servo off signal should be sent to the servo when the servo reports an amplifier alarm.

Many servos automatically turn off during amplifier alarms, even without receiving a servo off signal. Most users

should keep this parameter at its default value.


Chapter 7: System Parameters

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7-1

Chapter 7: System Parameters

7.1 Axis Unit

Minimum Value: 0

Maximum Value: None

Default Value: 0

The minimum unit of the command position, feedback position, command velocity, and feedback velocities. Status

values will be rounded to the nearest multiple of this value in the direction of zero. For example, if the Axis Unit is

set to 10 and the actual position feedback is 9, the position feedback will be 0. If the Axis is Unit is 10 and the

actual position feedback is 11, the position feedback will be 10. If the Axis Unit is 10 and the actual position

feedback is -9, the position feedback will be 0. If the Axis Unit is 10 and the actual position feedback is -11, the

position feedback will be -10.

To disable this feature, set the value of this parameter to 0.

7.2 Open Loop Mode


Default Value: 0

If open loop mode is set to “Enabled,” the home done status will be cleared when the servo is turned off.

7.3 Save Flight Recorder


Default Value: 1

This parameter determines whether the flight recorder data that is saved to disk when an amplifier alarm is detected

should contain the position command and position feedback data for this axis. Only the axes that are in use should

have this parameter enabled in order to reduce the file size of the flight recorder data.

This parameter is only applicable if the "Enable Flight Recorder" parameter is set to Enabled.


Chapter 8: Sync Parameters

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8-1


8.1 In Sync Width

Minimum Value: 0


Default Value: 0

This parameter determines when sync compensation should be applied to a sync slave axis. When the feedback

position offset between the master axis and the slave axis exceeds the specified value of the InSyncWidth, sync

compensation will be applied.

This parameter should be set for the sync slave axis and not the master axis.

8.2 Sync Gain

Minimum Value: 0


Default Value: 0

This parameter determines the compensation intensity when sync compensation is applied. The offset amount

between the master axis and slave axis will be multiplied by the SyncGain when applying sync compensation.


8.3 Use Velocity Offset


Default Value: 1

When enabled and the servo supports velocity offset sync compensation, the difference between the master axis

feedback position and the slave axis feedback position is multiplied by the sync gain and added to the velocity loop

of the slave axis.

When disabled, or when enabled but the servo does not support velocity offset sync compensation, the difference

between the master axis feedback position and the slave axis feedback position is multiplied by the sync gain and

added to the position command of the slave axis. This second mode can result in slave axis oscillation and

vibration; usually, the sync gain should be set to 0 if the servo does not support velocity offset sync compensation.


8.4 Master Desync Type

Default Value: WMX_MASTER_DESYNC_NO_ACTION

The behavior determined for the master axis' action when a sync slave axis desyncs. The available choices are as

follows:

WMX_MASTER_DESYNC_NO_ACTION– Do nothing.

WMX_MASTER_DESYNC_SVO_OFF– Immediately turn the master servo off.



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8-2

WMX_MASTER_DESYNC_DEC_SVO_OFF– Decelerate to a stop using the Master Desync Deceleration,

and then turn the servo off.

WMX_MASTER_DESYNC_DEC– Decelerate to a stop using the Master Desync Deceleration.

This parameter should be set for the sync master axis and not the slave axis.

8.5 Master Desync Deceleration

Minimum Value: 1



This value determines the deceleration of the master axis if it desyncs and the master desync type is set to

WMX_MASTER_DESYNC_DEC_SVO_OFF or WMX_MASTER_DESYNC_DEC.

This parameter should be set for the sync master axis and not the slave axis.

8.6 Slave Desync Type

Default Value: WMX_SLAVE_DESYNC_NO_ACTION

The behavior determined for the sync slave axis' action when the master axis desyncs (servo turns off).The available

choices are as follows:

WMX_SLAVE_DESYNC_NO_ACTION– Do nothing.

WMX_SLAVE_DESYNC_SVO_OFF– Immediately turn the slave servo off.

WMX_SLAVE_DESYNC_RESOLVE_SYNC –Resolve sync but keep the servo on.


8.7 Slave Desync Deceleration

Minimum Value: 1



Reserved.

8.8 Match Position


Default Value: 1

If set to 1, the sync axis' feedback position command value will be set equal to the master axis' feedback position

command value when sync control is started. This change in the position command value is only an offset applied

to the reported position command and will not cause motion on the sync axis.

If set to 0, the sync axis' position command value will not change when sync control is started.

This parameter may be changed freely during sync operation.



Chapter 9: System Parameters 2

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9-1

Chapter 9: System Parameters 2

9.1 Enable Flight Recorder


Default Value: 1

This parameter determines whether flight recorder data should be saved to disk when an amplifier alarm is detected

for the first time upon starting communication. The flight recorder data contains the position command and position

feedback data of the axes for the few seconds immediately before the amplifier alarm is detected. The flight

recorder is stored in the path specified by the user (by default the root of the C:\ drive) and has the file name

"wmx_flight_recorder.txt."

9.2 Flight Recorder Time Stamp


Default Value: 0

This parameter determines whether the file name of the flight recorder data file should contain the date and time

information of when the flight recorder was triggered. If this parameter is disabled, the flight recorder data file will

be overwritten each time the flight recorder is triggered. If this parameter is enabled, the flight recorder data file

name will become "[YYYY.MM.DD_HH.MM.SS]wmx_flight_recorder.txt," where YY = year, MM = month, DD

= day, HH = hour in 24-hour format, MM = minute, and SS = second. .


Chapter 10: Other Parameters

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10-1


These parameters are set using specific API functions and cannot be set using the SetParam API function.

10.1 Axis Command Mode

Allowed Values: WMX_AXIS_COMMAND_MODE_POSITION,

WMX_AXIS_COMMAND_MODE_VELOCITY

Default Value: WMX_AXIS_COMMAND_MODE_POSITION

The command mode of the axis. The available options are position (CSP) and velocity (CSV). The command mode

determines whether the axis receives a position command or a velocity command every cycle.

The command mode may only be changed while the axis is in idle state. If the axis is in motion, the command mode

may not be changed.

Axes in “Velocity” command mode are commanded by velocity only, and do not have a position command status.

Axes in “Velocity” command mode must have the “Single Turn Axis” parameter set to enabled.

This parameter is changed using the SetAxisMode API function.

10.2 Gear Ratio Numerator

Minimum Value: 1


Default Value: 1

The numerator of the gear ratio of the axis. The pulses sent to the axis servo will be multiplied by the gear ratio of

the axis.

The gear ratio may only be changed while communication with the servo network has not been established. Once

communication is established, the “Gear Ratio Numerator”will be unable to be changed until communication is

resolved.

In addition to the Minimum and Maximum values stated above, the "Gear Ratio Numerator" divided by the "Gear

Ratio Denominator" may not be smaller than 0.000001 or larger than 1000000.

This parameter is changed using the SetAxisGearRatio API function.

10.3 Gear Ratio Denominator

Minimum Value: 1


Default Value: 1

The denominator of the gear ratio of the axis. The pulses sent to the axis servo will be multiplied by the gear ratio of

the axis.



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10-2

The gear ratio may only be changed while communication with the servo network has not been established. Once

communication is established, the “Gear Ratio Denominator” will be unable to be changed until communication is

resolved.

In addition to the Minimum and Maximum values stated above, the "Gear Ratio Numerator" divided by the "Gear

Ratio Denominator" may not be smaller than 0.000001 or larger than 1000000.

This parameter is changed using the SetAxisGearRatio API function.

10.4 Single Turn Mode


Default Value: 0

This parameter determines whether the axis is a single turn axis or a normal axis. If this parameter is set to enabled,

this axis will be a single turn axis, and if this parameter is set to disabled, this axis will be a normal axis. A single

turn axis only retains position information within a certain range, and if the axis position would move out of this

range, the axis position loops around to the other end of the range. A single turn axis is suitable for axes for which

its position is cyclical instead of linear, such as rotary axes.

This parameter may only be changed while communication with the servo network has not been established, or

while communication with the servo network has been established but the axis servo has never been turned on.

Once communication is established and the axis servo has been turned on, the “Single Turn Axis” parameter will be

unable to be changed until communication is resolved.

This parameter is changed using the SetAxisSingleTurn API function.

10.4.1 Positioning Commands for Single Turn Axes

For single turn axes, absolute position command with target positions greater than or equal to 0 and less than the

single turn encoder count will be processed differently. For these absolute position commands, the axis will move in

the direction that will minimize the distance traveled, moving at most half the single turn encoder count.

For example, a single turn axis with a single turn encoder count of 8000 is at position 7000, and an absolute position

command to position 1000 is executed. The axis will move in the positive direction, wrapping around to 0 at

position 8000, and stopping at position 1000. The total distance traveled is 2000, less than the distance traveled if

the axis had moved to position 1000 in the negative direction.

Relative position commands are unaffected, and the axis will always move in the direction of the sign of the relative

target position.

Absolute position commands with target positions less than 0 or greater than or equal to the single turn encoder

count are unaffected.

A single turn axis may be rotated several times the single turn range by executing an absolute or relative position

command with target positions multiple times the single turn encoder count.

For example, a single turn axis with a single turn encoder count of 8000 is at position 0. A relative position

command of 16000 will cause the axis to move in the positive direction 16000 pulses, traversing the single turn

range twice. An absolute position command of 16000 will also cause the axis to move in the positive direction

16000 pulses, traversing the single turn range twice.



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10-3

10.5 Single Turn Encoder Count

Minimum Value: 256



This parameter determines the range of positions that the axis could occupy, if the axis’ “Single Turn Axis”

parameter is set to enabled.If the axis position would move out of this range, the axis position loops around to the

other end of the range.

Unlike most other parameters, this parameter is unaffected by the Axis Multiplier parameter. This parameter should

be set to the number of encoder counts that constitute a single turn before any axis multipliers are applied.

This parameter may only be changed while communication with the servo network has not been established, or

while communication with the servo network has been established but the axis servo has never been turned on.

Once communication is established and the axis servo has been turned on, the “Single Turn Encoder Count”

parameter will be unable to be changed until communication is resolved.

This parameter is changed using the SetAxisSingleTurn API function.

10.6 Maximum Torque Limit

Minimum Value: 0


Default Value: 300

The maximum torque that will be applied by the servo motor in either direction, in units of %.

This parameter requires object 0x6072, "Max Torque," to be mapped to the PDO in the Init file for the servo.

This parameter should not be used and kept to its default value when using the "Positive Torque Limit" or "Negative

Torque Limit" parameters. When using this parameter, object 0x60e0, "Positive Torque Limit Value," or object

0x60e1, "Negative Torque Limit Value," should not be mapped to the PDO in the Init file for the servo.

This parameter is changed using the SetMaxTrqLimit API function.

10.7 Positive Torque Limit

Minimum Value: 0


Default Value: 300

The maximum torque that will be applied by the servo motor in the positive direction, in units of %.

This parameter requires object 0x60e0, "Positive Torque Limit Value," to be mapped to the PDO in the Init file for

the servo.

This parameter should not be used and kept to its default value when using the "Maximum Torque Limit" parameter.

When using this parameter, object 0x6072, "Max Torque," should not be mapped to the PDO in the Init file for the

servo.

This parameter is changed using the SetPositiveTrqLimit API function.



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10.8 Negative Torque Limit

Minimum Value: 0


Default Value: 300

The maximum torque that will be applied by the servo motor in the negative direction, in units of %.

This parameter requires object 0x60e1, "Negative Torque Limit Value," to be mapped to the PDO in the Init file for

the servo.

This parameter should not be used and kept to its default value when using the "Maximum Torque Limit" parameter.

When using this parameter, object 0x6072, "Max Torque," should not be mapped to the PDO in the Init file for the

servo.

This parameter is changed using the SetNegativeTrqLimit API function.

10.9 Axis Multiplier

Minimum Value: 1


Default Value: 1

The axis multiplier multiplies all pulses of all commands by this amount. This function is similar to the gear ratio,

except the pulses are multiplied before being processed by the engine instead of before being sent to the axis servos.

The displayed status data, including feedback position and feedback velocity, are divided by the axis multiplier.

Note that many parameters such as velocity and acceleration for many motion commands have a maximum

allowable value of 2^31 – 1. This maximum allowable value is reduced by a factor equal to the axis multiplier.

This parameter may only be changed while the servo is off.

This parameter is changed using the SetAxisMultiplier API function.

10.10 Stop Parameter Mode

Default Value: WMX_STOP_PARAM_MODE_USER_DEFINED

This parameter is outdated and should be kept to its default value for most users. Stop commands with invalid

parameters are no longer generated.

This parameter determines whether or not to override any stop commands that, due to invalid parameters, would

cause the axis to immediately stop. The stop command profile is replaced with a trapezoidal profile with a

deceleration rate that is calculated in one of several ways. The available options are as follows:

WMX_STOP_PARAM_MODE_NONE – Stop commands that would cause the axis to immediately stop

are not overridden.

WMX_STOP_PARAM_MODE_QUICK_STOP – Stop commands that would cause the axis to

immediately stop are overridden with a trapezoidal profile with the deceleration equal to the “Quick Stop

Deceleration.”

WMX_STOP_PARAM_MODE_USER_DEFINED – Stop commands that would cause the axis to

immediately stop are overridden with a trapezoidal profile with the deceleration equal to the “Stop

Parameter Deceleration.” If “Stop Parameter Deceleration” is 0, the axis immediately stops.



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WMX_STOP_PARAM_MODE_TIME – Stop commands that would cause the axis to immediately stop

are overridden with a trapezoidal profile with the deceleration equal to the axis’ current velocity divided by

the “Stop Parameter Time.” If “Stop Parameter Time” is 0, the axis immediately stops.


10.11 Stop Parameter Deceleration

Minimum Value: 0


Default Value: 0



This parameter determines the deceleration to stop the axis at when the stop command parameters are invalid and

the “Stop Parameter Mode” is set to WMX_STOP_PARAM_MODE_USER_DEFINED. This parameter is

specified in units of pulses/s^2.


10.12 Stop Parameter Time

Minimum Value: 0


Default Value: 0



This parameter determines the time to stop the axis at when the stop command parameters are invalid and the “Stop

Parameter Mode” is set to WMX_STOP_PARAM_MODE_TIME. This parameter is specified in units of seconds.


10.13 Stop Parameter Velocity Mode

Default Value: WMX_STOP_PARAM_MODE_NONE



This parameter determines whether or not to override any stop commands that, due to invalid parameters, would

cause the axis to immediately stop. The stop command profile is replaced with a trapezoidal profile with a

deceleration rate that is calculated in one of several ways. The available options are as follows:

WMX_STOP_PARAM_MODE_NONE – Stop commands that would cause the axis to immediately stop

are not overridden.

WMX_STOP_PARAM_MODE_QUICK_STOP – Stop commands that would cause the axis to

immediately stop are overridden with a trapezoidal profile with the deceleration equal to the “Quick Stop

Deceleration.”

WMX_STOP_PARAM_MODE_USER_DEFINED – Stop commands that would cause the axis to

immediately stop are overridden with a trapezoidal profile with the deceleration equal to the “Stop



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Parameter Velocity Deceleration.” If “Stop Parameter Velocity Deceleration” is 0, the axis immediately

stops.

WMX_STOP_PARAM_MODE_TIME – Stop commands that would cause the axis to immediately stop

are overridden with a trapezoidal profile with the deceleration equal to the axis’ current velocity divided by

the “Stop Parameter Velocity Time.” If “Stop Parameter Velocity Time” is 0, the axis immediately stops.


10.14 Stop Parameter Velocity Deceleration

Minimum Value: 0


Default Value: 0



This parameter determines the deceleration to stop the axis at when the stop command parameters are invalid and

the “Stop Parameter Velocity Mode” is set to WMX_STOP_PARAM_MODE_USER_DEFINED. This parameter

is specified in units of pulses/s^2.


10.15 Stop Parameter Velocity Time

Minimum Value: 0


Default Value: 0



This parameter determines the time to stop the axis at when the stop command parameters are invalid and the “Stop

Parameter Velocity Mode” is set to WMX_STOP_PARAM_MODE_TIME. This parameter is specified in units of

seconds.


WMX Parameter Manual - Soft Servosoftservo.com/wp-content/Documentation/WMX_Parameter.pdf · 2016....

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