SoftMotion: Using an axis in different coordinate spaces

[swenp]

Hi,

I am trying to set up a SoftMotion system with up to 5 axes and using these axes in different configurations usings coordinate systems.

Problem is:

I have axes X1, X2 which are running in parallel, as well as axes Y, Z and W.

First setup is running only X1 and X2, all other drives need to be disabled. Move start and stop must be synched -> Use "Coordinate Space A"

Second setup is running X1,X2 and Y, all other drives need to be disabled. Move start and stop must be synched -> Use "Coordinate Space B"

etc.

Unfortunately an axis that has been configured for "Coordinate Space A" can not be configured to be used in "Coordinate Space B".

Configuring all available axes to be used in a single coordinate space will result in an error when trying to perform a move and one or more axes are drive disabled.

Any suggestions?

Regards,

Swen

[PaulRB]

Hi Swen,

Depending on the moves you are making, you could put all of the axes in the same coordinate space and only perform moves on certain axes. This would work well with straight line moves, but not as well with arc moves. For example, I could put X1, X2, Y, W, and Z all in the same coordinate space. When I want to move X1 and X2, I command a straight line move on the coordinate that only moves axes X1 and X2 and keeps the other axes stationary. The stationary axes would still be enabled, but they wouldn't be moving.

I might be able to come up with some more suggestions if you give me more information about your requirements.

Thanks,

[swenp]

Hi Paul,

thanks for your reply.

Putting all axes into one coordinate space has two problems for me:

First I need to enable the brake for the axes currently not in use, i.e. disable the drive. Thats a security requirement by the customer. Unfortunately it is not an option not to command them, as they still  can move.

Second is that the W axis is optional, it can be plugged into the Z axis. And it is a common use case to move the axes in different combinations.

My idea was to have coordinate spaces for each combination allowed, which would be 15 coordinate spaces in this case. Then use the appropriate coordinate space depending upon the currently enabled axes or axes in use. Unfortunately thats not possible.

Any ideas?

Thanks,

Swen