Motion Operation

Motion Operation Display

When in motion operation, the display provides real-time status information, including:

• Motion system state

• Actuator states

• Gain settings (amplification of input signals)

Possible Actuator States

Symbol	Status Description
X	Offline – No actuator connected or error detected
H	Actuator enabled
P	Preparing – Searching for homing position
!	Moving to offsets/safety park position
R	Ready – Actuator operational
B	Belt homing in progress

System Status Display

The top line of the display shows the rig system status and the current machine movement:

Status	Description
preparing	Homing and moving to park position
offline	Offline – System switch off
standby	Rig moves to standby position
belthoming	Rig is homing the belt
wait data	Waiting in standby position for motion data
online	Serial data received – motion in progress
parking	Moving to park position
emergency	Emergency stop activated
act.error	Actuator check failed – not all actuators are operational

Adjusting Master Gain

Using the encoder, you can adjust the master gain, which controls the input signal amplification for the actuators. The range is 0–100%.

Activate Submenu

• Pressing the encoder in the main screen activates the submenu structure.

Motion Submenu

• Additional quick access options can be executed via a double-click on the encoder button.

Quick Access Options

Automatic Homing Process

When actuators are connected and motion operation starts, the automatic homing process begins.

Homing follows these steps based on the configured settings:

1. Initial movement:

   • The actuator moves opposite to the working direction at homing speed.

2. Detecting the hard stop:

   • When the servo motor reaches a hard stop (physical actuator end), the torque signal in the AASD servo driver is triggered.

   • The controller detects this signal and reverses the movement direction.

3. Defining the zero position:

   • The actuator moves forward by a programmed number of pulses.

   • At this position, the working area zero point is set.

Homing and Offline Status

• The rig reaches "offline" status once all connected actuators reach their park position.

• The homing event can also be triggered via an external limit switch.

• If actuator check is enabled, all configured actuators must be online; otherwise, an error occurs.

Transitioning to Online Mode

If the rig is in offline status, it can be switched online via the online switch signal.

• The rig moves to a configurable standby position at "Transition Speed".

• Movement follows a Z-shaped transition, ensuring smooth acceleration and deceleration.

• The same transition movement is used when switching offline and moving to the parking position.

Standby and Motion Data Synchronization

In standby mode, the controller waits for motion data:

• Upon receiving data, another transition sequence begins.

• The motors follow the incoming data in an approximate motion until they fully synchronize.

• The transition speed for this process is configurable and uses motion speed.

When switching online, spike and EMA LP filters are activated.

• If no motion data is received, the rig will return to standby position after a timeout and wait for new data.

Emergency Stop Behavior

When an E-Stop is triggered during motion operation:

• Actuators follow the configured safety settings.

• If brakes are configured, they activate automatically.

• The status LEDs are controlled accordingly.