Copyright: Help Contents Copyright (c) 2000-2003 by PMC Corp.


Motor Mover

The Motor Mover is the simple, multi-axis, motion component of the Motion Integrator suite of tools. It allows the user to execute basic point-to-point or simple cycling moves of one or more motors on the same motion controller.

At the top of the screen are one or more Axis Panels; each panel represents one of the motors connected to the motion controller. Individual motors may be selected for control from the axis panel.

Beneath the axis panels are the Master Controls. The Master Controls affect motion for all of the currently selected motors.

In the screen shot above the motion controller is configured with three axes of motion control. All three motors are selected and will be included in any motion commands.

NOTE: This application requires the MC260, MC360, or MultiFlex Advanced Stepper Module for operation with stepper motors. The older MC150 and MC160 stepper motor modules do not support the on-the-fly velocity changes required by this application.


Axis Panel Controls

A horizontal "Axis Panel" on the Motion Mover's main display represents each motor axis on the selected motion controller. This axis panel provides status information and setup controls for that motor.

Select Button

The leftmost button in each panel is labeled with the motor's axis number and selects or de-selects that motor. Only motors that are selected may be controlled using the master controls at the bottom of the Motor Mover front panel. In the example both motors are selected. De-selected motors will have their displays dimmed and their controls disabled.

Position Readout

This display provides a large readout of the motor's current position and is updated 10 times a second.

LED Indicators

The topmost LED indicator will be green when the motor is on, or neutral when it is off.

The middle indicator will glow red when there is an error, and remain neutral when there is no error. The most likely cause of an error condition is that the following error was exceeded. This error can be corrected by increasing gain, decreasing maximum speed, or increasing the following error limit.

The bottom indicator is red when a limit has been tripped, and is neutral otherwise. When a limit is tripped the error indicator will also indicate an error condition. To clear errors press the On button for the affected motor.

Configuration Buttons

Four control buttons are provided on the axis panel for each motor. The On button enables the axis, Off disables the axis, Setup and Scale provide access to the setup and scaling configuration dialogs for the motor.

Travel Control

The travel controls set the travel distance and select absolute or relative motion when Point to Point is selected (in Cycle all moves are relative moves and the absolute/Relative controls are disabled).

Velocity Control

The velocity slider allows you to change a motors programmed velocity from 0% to 150% of the value the motor was configured for within the Setup Dialog. This control may be operated while the motor is moving. A small display window indicates the current setting, in percent.

Some older motor modules (MC1xx series) and certain operating modes (S-Curve, Parabolic) are not compatible with the velocity control slider. When one of these modules is installed or one of these operating modes is selected the velocity control slider for that motor will be grayed out. A warning dialog is displayed when the slider is disabled. Checking the "Do not show this dialog box again" check box before closing the dialog disables this dialog. A menu option in the Help menu allows you to re-enable the warning dialogs.


Master Controls

Master controls affect all of the "selected" motors on the motion controller. A motor is selected or de-selected by pressing the axis number button in the axis panel. De-selected motors have their position display and controls dimmed. Many of the master control buttons are only enabled if one or more of the selected motors are on – if all of the selected motors are off the Move +, Move -, Stop, Abort, and All Off buttons will be disabled.

Point-to-Point Mode

Pressing the Point-to-Point button selects basic Point-to-Point mode and cancels Cycle Mode. In Point-to-Point mode each motor may be given an absolute position to move to or a relative distance to move. Pressing Move + or Move – in this mode will cause each selected motor to execute a single move.

Cycle Mode

Pressing the Cycle button selects simple Cycle mode and cancels Point to Point. In simple cycle mode all moves are relative moves and the Abs / Rel buttons on the axis panels are disabled. Pressing Move + or Move – in this mode will cause all motors that are selected to move by the amount specified in the travel field of their axis panel, when all motors have completed their moves they will be commanded to repeat the move in the opposite direction. Use Stop, Abort, or All Off to cancel the Cycle mode move.

Move + / Move – Buttons

Move + and Move – start all motors moving that are enabled and turned on. Move + uses the operator entered travel value in the axis panel as-is, Move – flips the sign of the travel value (it moves the motor in the opposite direction).

Stop Button

Pressing Stop stops all motion of the motors using the programmed deceleration that each motor is configured for. In other words it performs a "normal" stop.

After the motor or motors have come to a complete stop Motor Mover issues a Motor On command to all motor modules that were ordered to stop. This command causes the motor modules to update the target position for the motor – ensuring that future moves will be correctly executed. You should not issue any additional moves before the motors have come to a complete stop. A warning dialog is displayed after you press the Stop button to remind you of this fact. Checking the "Do not show this dialog box again" check box before closing the dialog disables this dialog. A menu option in the Help menu allows you to re-enable the warning dialogs.

Abort Button

Abort provides an immediate stop for all motors. It skips the normal programmed deceleration of the Stop button and attempts to stop the motors instantly.

Zero Button

This button sets the current position of all selected motors to zero. No motion is performed as a result of pressing this button; however pressing this button while a motor is moving can cause the moving motor to behave erratically.

Home Button

This button causes each selected and enabled motor to move to its absolute zero position.

All On / All Off Buttons

The All On / All Off buttons do just that – they turn on or off all of the selected motors. A motor must be turned "On" before it may be moved.