From RSI - Robotic Systems Integration - SynqNet Systems


Contents

RapidSetup Features

RapidSetup contains an always visible TreeView, which shows the real-time status and topology for the SynqNet network. This provides a graphical representation of all the nodes (Axis and I/O) on the SynqNet network.

Motion Controller

Reset()SynqNetInit()SynqNetShutdown()SynqNetTopologySave()SynqNetTopologyClear()SynqNetNetworkTypeGet()SynqNetNodeCountGet()SynqNetStateGet()SynqNetIdleCableStatusGet()SynqNetIdleCableNumberGet()SynqNetTopologySavedGet()SynqNetDeadEventGet()SynqNetRxFailureEventGet()SynqNetTxFailureEventGet()SynqNetNodeFailureEventGet()SynqNetRecoveryEventGet()SynqNetCRCErrorInGet()SynqNetCRCErrorOutGet()SynqNetFailedNodeMaskGet()SynqNetRecoveryModeGet()ProcessorTypeGet()SerialNumberGet()AxisCountGet()SampleRateGet()SampleCounterGet()FirmwareUpload()FirmwareDownload()SaveToFlash()
RapidSetup MotionController screen


  • Reset
  • Upload/Download firmware
  • Change Sample Rate
  • Version Info
  • I/O on HD15 connector

SynqNet Network

  • Force Initialization
  • Shutdown
  • Clear/Save Topology
  • State and Status
  • Diagnostic Information
    • Upstream Errors
    • Downstream Errors
    • CRC In
    • CRC Out

Axis

  • Position and Trajectory Status
  • Enable/Disable amplifier
  • State and Source info
  • Dedicated I/O

Image:RapidSetup_DedicatedIO.jpg

  • User Inputs
  • User Outputs
  • Drive Faults and Warnings
  • Drive Monitor values (3 per axis)

Motion

Image:RapidSetup_Motion.jpg

  • Absolute Point-to-Point Motion
  • Relative Motion
  • Velocity Moves
  • Jogging
  • Repeat Motion

Tuning

Image:RapidSetup_TuningParameters.jpg

  • PID and PIV gains
  • Feed Forwards
  • Gain Tables

AutoTuner

Image:RapidSetup_AutoTuner.jpg

  • Static Error Detection
  • Friction Measurement
  • Open-Loop pulse
  • Automatic PID and FeedForward settings with adjustable slider (Soft to Stiff)

Limits and Actions

Image:LimitsAndActions.jpg


Configuration

Image:RapidSetup_AxisConfiguration.jpg

  • Actions and Limits
  • Settling Criteria
  • Motor Configuration
  • Brake Configuration

Homing and Capture

Homing

Image:RapidSetup_Homing.jpg

Capture

  • Capture

Image:RapidSetup_Capture.jpg

    • Position or Time
    • Trigger Source
    • Edge Configuration (Rising, Falling, Either)
    • Feedback Axis
    • Primary or Secondary Encoder

Electronic Gearing

Image:RapidSetup_Gearing.jpg

  • Master Axis number
  • Gearing Source
  • Numerator
  • Denominator
  • Enable/Disable

Seamless Drive Settings

This feature enables users to configure and monitor detailed SynqNet Drive settings, which previously required the use of 3rd part software, and in some cases an RS-232 serial connection to drives.

  • Drive Parameter (individual)
  • Drive Parameter File Upload/Download

S200

  • Summary Overview

Image:RapidSetup_S200_Summary.jpg

  • Motor Database (AKM], etc.)

Image:RapidSetup_S200_Motor.jpg

  • Command Control
  • Control Mode
  • I/O Settings

Image:RapidSetup_S200_IO.jpg

  • Loop Gains
  • General
  • SynqNet Options

Image:RapidSetup_S200_SynqNet.jpg

CD ServoStar

  • Motor Parameters
  • Motor Feedback
  • Motor Safety

Omega

  • Motor Parameters
  • Motor Safety
  • Commutation
  • Digital I/O

SqStep4

  • Monitoring HeatSink Temp, Bus Voltage
  • Microsteps
  • Peak Current Level
  • Current Reduction Level
  • Current Reduction Time

I/O

Image:RapidSetup_IO.jpg

  • Digital Inputs
  • Digital Outputs
  • Analog Inputs
  • Analog Outputs
  • XML User Labels

Binary Files

Image:RapidSetup_BinaryFiles.jpg

  • Automatic detection and recommendation for latest files
    • Motion Controller Firmware
    • Node FPGA (Axis and I/O)
    • Drive Firmware
  • Automatic Update feature

XML Configurations

Image:RapidSetup_ConfigurationFiles.jpg

  • RapidCode MotionController XML
  • RapidCode Axis XML (includes drive parameters)
  • Automatic Upload and Download

Xbox 360 Controller

Image:RapidSetup_Xbox360Controller.jpg

  • Analog Thumbstick Jogging (4 axes)
  • Trigger Jogging
  • Enable or Abort all axes
  • Settings stored in XML
Retrieved from "http://www.roboticsys.com/RapidSetup"