Software for the synchronization of axes - Kollmorgen

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SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A10.6 INITIALIZATION INSTRUCTIONS10.6.1 Instruction INIPMInstruction code : 27 (hexa : 1B).Data bytes :Answer byte :Tests :NoneStatus STATA.None.This instruction initializes PMUS and MOMUS (master-shaft position and period).MOMUS is reset to zero. To allow for the switching delay compensation, PMUS isinitialized as :PMUS = TIMTOP . VMUSIt is used to complete non-absolute systems such as :- OM/OS,- OEI without "zero" track,- second resolver when its given absolute position is not of use.10.6.2 Instruction INIPSInstruction code : 26 (hexa : 1A).Data bytes :Answer byte :Tests :NoneStatus STATA.None.This instruction causes zero-reset of the incremental part of counters PHIC andPHIREC. They also update INTV and MOPHI.100
SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A10.6.3 Instruction ALISUInstruction code : 28 (hexa : 1C).Data bytes :Answer byte :Tests :NoneStatus STATA.None.The purpose of this instruction is to save the instantaneous physical position of theslave shaft as a reference for later synchronizing steps. It provokes zero-reset of INTVand as a result corrects variable PCOR and parameter CPCOR, to avoid changes inreference position PHIRE (see description of parameter CPCOR and explanation ofindependence of resolver zero).In order to limit the number of motor revolutions in parameter CPCOR, an INIPSinstruction can be executed previously.If instruction ALISU is executed only once (at commissioning), and not after eachreset, the CPCOR parameter must be saved in a SAVE instruction. In this case, theinstruction ALISU should be preceded by an INIPS instruction to ensure that aparticular number of motor revolutions is not taken into account.10.6.4 Instruction ALIPOSInstruction code : 20 (hexa : 14).Data bytes :Answer byte :Tests :NoneStatus STATA.None.Like the instruction ALISU, this instruction saves a physical situation by initializing thevariable PCOR and the parameter CPCOR.For this, ALIPOS takes account not only of the slave position, but of the relativepositioning of the master and slave shafts, to ensure their relationship is respectedsubsequently.ALIPOS does not reset INTV to zero; it adjusts PCOR in order to get zero-differencebetween INTV and PMUS, taking account of any periodicities involved.Apart from this, ALIPOS is used in the same way as the instruction ALISU. If ALISUimposes a prior INIPS value, ALIPOS will also ask for an INIPM.101
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Socapel ST1A Digital Motion Control
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Page 49 and 50: 49Figure 8.1 : Reference computer+
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Software for the synchronization of axes - Kollmorgen

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