Configure

In this page, you can convert the servo drive's unit to your own unit, reverse the axis' direction, limit the axis moving range (limit switch), set the axis' home switch, set the maximum and minimum acceleration, deceleration, and jerk of the axis. If your servo drive provides limit switch state in digital inputs, it will be used automatically if the digital inputs are enabled.

To enter this page, click on an axis device on the Project Configuration pane and then click the Configure tab on the Settings pane.

Send and Read

Send and Read offer the flexibility for you to decide whether to write and read the values from KINGSTAR Subsystem. If you are creating a new Configuration Tool project, after the hardware is connected, Configuration Tool automatically writes a set of settings into the KINGSTAR Subsystem for axes to use. These settings, configured by KINGSTAR, are applicable to most axes. With these settings, your axes can move properly (not extremely good though). When Configuration Tool is running, it keeps comparing the on-screen values and the ones stored in the Subsystem. If these values are changed either by you or other applications, the changed items will be marked. If you want to write the changed values into the Subsystem, you need to click Send, or the new values won't be written. If you have changed the values in some fields, but want to read the values from the Subsystem, click Read.

These two buttons are available only when the values are different from the ones in the Subsystem. After you click Send or Read, Configuration Tool will remind you the settings will be changed.

Send: applies the new values to the KINGSTAR Subsystem. After you click Send, Configuration Tool will remind you the settings will be changed.

Read: reads the values from the KINGSTAR Subsystem. After you click Read, Configuration Tool will remind you the values read will overwrite the values in the fields.

NOTE: If you open a Configuration Tool project, after the hardware is connected, Configuration Tool will use the settings you saved before.

NOTE: The Send and Read buttons in the Configure, Test, and Tune page are linked, which means if any setting that affects the axis has been changed in these pages, Configuration Tool will detect and mark it.

Feedback

Provides unit conversion and direction reversing. You can use the basic motion to test whether the feedback of the machine works well for new settings.

Encoder settings

If the encoder settings are changed, Configuration Tool will remind you to change the values of homing, motion, and PID settings.

Resolution: the resolution of a connected axis.

For axes added by EtherCAT auto-scanning: the default value of Resolution will be retrieved from the API (GetAxisByIndex or AxisDetails.Resolution).

For axes added manually (added from the ESI database): the default value of Resolution will be from the Default Resolution in the ESI database.

For axes added manually (not included in the ESI database): you can input a custom resolution during axis addition. To do this, on the device list, right-click Axis > select Add Axis > input a value in the Resolution box.

NOTE: Resolution can only be sent to the virtual axes when establishing an EtherCAT connection.

Unit conversion: enables the axis to use a real-world unit. Changing the unit affects the position and velocity. When this check box is cleared, Numerator and Denominator are not available.

Numerator: converts the drive unit to the user unit. For example, if the device is an encoder, typically the numerator is the resolution of the encoder.

Denominator: converts the drive unit to the user unit. For example, if you're using degree, the value will be 360 because there are 360 degrees in one revolution.

Counts per distance: the number of encoder counts in one user unit.

Reverse direction: reverses the direction the axis moves.

Advanced options

Configure extra encoder: if you have a second encoder, you can configure its settings here.

The ratio of drive velocity unit to count per second: sets the conversion ratio of the servo drive's unit to the count (pulse) unit used by the axis. If the value is one, it means the axis is using count per second.

Reverse torque direction: reverses the torque direction.

Move

Tests whether the axis works for the unit settings and the moving direction settings in Encoder Settings.

Control mode: sets a control mode of an axis at run time. The control mode must be compatible with the current access mode. Not all axes support control mode changes at run time.

Position: the position of the axis.

Velocity: the velocity of the axis. Click the plus or minus button to adjust the amount of velocity.

Torque: the torque of the axis. Click the plus or minus button to adjust the amount of torque. This mode appears only if you have selected Torque, Position (default), velocity and torque, or Velocity (default), position and torque in the Supported access mode list in Axis Settings in Connection Settings.

Start: starts the movement.

Safety

Sets the limit switch to control the distance the axis can move.

Negative limits

Set a negative software limit: sets the farthest position in the negative direction the axis can reach.

Enable negative limit switch: enables the negative software limit.

Invert ON/OFF: inverts the sensor value. When it is not selected, the sensor is considered touched as it is high (on). When selected, the sensor is considered touched as it is low (off).

Digital input:

Edit: selects a digital input from the module list.

Remove: removes the selected digital input.

Positive limits

Set a positive software limit: sets the farthest position in the positive direction the axis can reach.

Enable positive limit switch: enables the positive software limit.

Invert ON/OFF: inverts the sensor value. When it is not selected, the sensor is considered touched as it is high (on). When selected, the sensor is considered touched as it is low (off).

Digital input:

Edit: selects a digital input from the module list.

Remove: removes the selected digital input.

Select digital input

The length of I/O module is Expected length. For details, see the IO page.

Module list: the list of the available I/O modules.

Offset: specifies a bit offset to the location to read.

Current value: the current value read from the module.

Homing

Sets a homing switch for an axis.

Settings

Invert ON/OFF: inverts the sensor value. When it is not selected, the sensor is considered touched as it is high (on). When selected, the sensor is considered touched as it is low (off).

Edit: selects a digital input from the module list.

Remove: removes the selected digital input.

Slave homing method: uses the servo drive's homing features. For more information about the homing methods your servo drive provides, see its user guide.

Slave homing offset: the distance the axis moves after it finds the homing sensor.

Motion

Sets the motion parameters for an axis.

Profile type: sets the unit of acceleration and jerk for an axis.

Unit per second: acceleration in unit per second² and jerk in unit per second³.

Delay in second: acceleration delay in seconds. It determines how much time the interpolation takes when it increases its velocity and accelerates from zero to the max velocity.

All the motion parameters in Configuration Tool are affected by Unit conversion (Feedback area) and Profile type (Configure > Motion). For more information about how Profile type works, see Concepts > Motion profile type.

	Unit per second	Delay in second
Unit conversion (On)	Target/Distance: user units Velocity: user units per second Acceleration: user units per second² Deceleration: user units per second² Jerk: user units per second³ Jolt: user units per second⁴	Target/Distance: user units Velocity: user units per second Acceleration: second Deceleration: second Jerk: second Jolt: second
Unit conversion (Off)	Target/Distance: counts Velocity: counts per second Acceleration: counts per second² Deceleration: counts per second² Jerk: counts per second³ Jolt: counts per second⁴	Target/Distance: counts Velocity: counts per second Acceleration: second Deceleration: second Jerk: second Jolt: second

Unit per second

Delay in second

Unit conversion (On)

Target/Distance: user units

Velocity: user units per second

Acceleration: user units per second²

Deceleration: user units per second²

Jerk: user units per second³

Jolt: user units per second⁴

Target/Distance: user units

Velocity: user units per second

Acceleration: second

Deceleration: second

Jerk: second

Jolt: second

Unit conversion (Off)

Target/Distance: counts

Velocity: counts per second

Acceleration: counts per second²

Deceleration: counts per second²

Jerk: counts per second³

Jolt: counts per second⁴

Target/Distance: counts

Velocity: counts per second

Acceleration: second

Deceleration: second

Jerk: second

Jolt: second

System (safety & hardware)

Sets the motion parameters to the axis. If your servo drive or motor has some safety features or limitations, apply them here.

Maximum velocity: the maximum velocity of an axis. When it is set to zero, there is no limitation for the max value; when set to other values, the max velocity is the value you set.

Minimum velocity: the minimum velocity of an axis. When it is set to zero, there is no limitation for the min value; when set to other values, the min velocity is the value you set.

Maximum torque: the maximum torque of an axis. When it is set to zero, there is no limitation for the max value; when set to other values, the max torque is the value you set.

Minimum torque: the minimum torque of an axis. When it is set to zero, there is no limitation for the min value; when set to other values, the min torque is the value you set.

Maximum acceleration: the maximum acceleration of an axis.

Maximum deceleration: the maximum deceleration of an axis.

Maximum jerk: the maximum jerk of an axis.

Maximum jolt: the maximum jolt (change of jerk) of an axis.

Maximum following error: the maximum following error of an axis.

In target range: the position error of an axis. If the distance between the target position and actual position is less than this value, the axis is considered at the target position and the motion will be stopped.

Application

Sets the parameters to your KINGSTAR application.

Maximum velocity: the maximum velocity. When it is set to zero, there is no limitation for the max value; when set to other values, the max velocity is the value you set.

IMPORTANT: When you change Profile Type, the value in the following fields will be changed too, because each motion profile type has its own unit.

Maximum acceleration: the maximum acceleration. When it is set to zero, there is no limitation for the max value; when set to other values, the max acceleration is the value you set.

Maximum deceleration: the maximum deceleration. When it is set to zero, there is no limitation for the max value; when set to other values, the max deceleration is the value you set.

Maximum jerk: the maximum jerk. When it is set to zero, there is no limitation for the max value; when set to other values, the max jerk is the value you set.

Maximum jolt: the maximum jolt (change of jerk). When it is set to zero, there is no limitation for the max value; when set to other values, the max jolt is the value you set.