Specifications

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Operation 5-13MN1941
5.5 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.
5.5.1 Local axes, remote axes and axis numbering
The NextMove e100 is capable of simultaneously ‘profiling’ up to 16 axes. Profiling is the
process by which the NextMove e100 constantly calculates the required axis position during a
move’s progress.
5.5.1.1 Local axes
The NextMove e100 has 7 ‘local’ axes, all of which will require profiling 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).
5.5.1.2 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 (controlled node):
H NextMove e100 can profile moves on behalf of the drive, sending continuously updated
incremental demands to the drive.
H NextMove e100 can send a single demand to the drive, and then allow the drive to profile
the move itself. After sending the demand, the NextMove e100 takes no further part in
controlling the move.
H NextMove e100 can simply monitor the feedback from the drive, sending no demand
signals.
When controlling a remote axis, the NextMove e100 sends demand signals and receives
feedback over the EPL network. However, the system does not create a normal closed-loop
motion control system. This is because delays incurred by the EPL network mean the
NextMove e100 cannot correlate its demand signals with the feedback signals being received
from the drive. For this reason, there is no way to ‘tune’ a NextMove e100 / drive combination as
a complete system when connected using EPL. However, the drive / motor combination must be
separately tuned to ensure that the drive can control the motor correctly.