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⌚Timestamps:
00:00 - Intro
00:28 - Resetting a servo axis
00:54 - Enabling a servo axis
01:24 - Homing a servo axis
02:38 - Moving a servo axis
04:50 - Stopping a servo axis
06:05 - Wrap-Up

Understanding the fundamentals of motion control is essential for operating a servo axis efficiently. Regardless of the hardware vendor or software platform you’re using, certain core principles apply universally to controlling a servo axis.

Today, we’ll explore these essential pillars and focus on five basic motion commands crucial for operating a servo axis.

Most instructions on a servo axis require the drive to be free of any errors. That is why one of the most essential servo axis commands is the reset command. 

Resetting a servo axis prepares the drive for normal operation by removing any error states or alarms on the drive and by clearing any active commands or setpoints that may interfere with new operations.

After an axis has been cleared of any faults, the axis is ready to be energized. Before an axis can execute any type of movement command, it needs to be powered on, or enabled first. 

After the enable command is activated, the servo axis powers up and prepares itself for motion control. 

Furthermore, enabling the axis activates position control, causing the axis to start regulating and maintaining its setpoint position.

Although the axis might be enabled, it cannot move to a setpoint position until it knows its current position. Here is where the homing command comes into play. 

Homing a servo axis sets a reference position, a home position in the axis, and ensures accurate and repeatable positioning for subsequent operations.

There are various types of homing commands, which also depend on the type of encoder used for your servo axis. Generally speaking, there are two main categories of homing commands: Active and Passive;

- Active Homing Commands involve moving the axis toward a home sensor, stopping at it, and setting the reference position at this point.
- Passive Homing Commands do not move the axis but instead set the home position at the location where the homing command was initiated.

After completing a homing command, the axis accurately knows its position and is ready for the next phase: moving the axis.

The main objective of integrating a servo axis in an industrial application is to achieve precise positioning.

Positioning an axis involves moving it to a specific location.

There are various instructions available for moving a servo axis:

- Absolute Move Instruction moves the axis to a specified absolute position.
- Relative Move Command moves the axis a specified distance relative to its starting point.
- Velocity Command moves the axis at a constant speed.
- Jog Command moves the axis in a specific direction as long as the command is being executed.
- Superimposed Move Command triggers an additional motion to be overlaid on top of an ongoing movement.

Stopping an axis halts its motion, either immediately or in a controlled manner.

An immediate stop command abruptly stops the motion by braking the drive as quickly as possible, aiming to prevent any harm to operating personnel.

On the other hand, a controlled stop command decelerates the servo axis smoothly, avoiding mechanical stress on the system or overshooting the position.

Stopping a servo axis is crucial for system and operator safety, providing a way to halt motion appropriately depending on the situation.

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