Software for the synchronization of axes - Kollmorgen

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SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A10.7.2 Instruction STARTInstruction code : 13 (hexa : D).Data bytes :None.Answer byte :Status STATA.Tests :None.Causes the start of the preloaded movement. A START is ignored if it occurs beforethe preceding movement has been finished.10.7.3 Instruction STOPInstruction code : 12 (hexa : C).Data bytes :None.Answer byte :Status STATA.Tests :None.Interrupts the movement in progress. Braking is immediate. This instruction alsodesynchronizes a slave shaft. The acceleration value depends on the parameterASTOP. Status STATA evolves in the same way as for an ERUN (null-speed)instruction.10.7.4 Instructions EAMOV and PAMOVInstruction code : 7 and 6, respectively.Data bytes :1. Final position (msb).2. Final position (intermediate byte).3. Final position (lsb).Answer byte :Status STATA.Tests :None.These instructions execute or prepare the movement (acceleration, velocity,deceleration) towards the given final position (specified in LU units). This position canbe positive or negative.As soon as the final position is received, the distance to travel is converted intointernal units, and the movement or displacement direction is determined.The absolute reference is the motor position after the ST1 is powered up. It can bechanged to another value at any time, using the instruction "INIABS".The absolute position only takes account of motion generated by the IRG : it ignoresmovements commanded by the master shaft.In the case of a long movement, the velocity profile is trapezoidal; the velocitycorresponds to the current values of parameters CVP and RATE.In the case of a small movement, a lower velocity is calculated, and the velocity profileis almost triangular.104
SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A10.7.5 Instructions ERMOV and PRMOVInstruction code : 5 and 4, respectively.Data bytes :Answer byte :Tests :1. Distance to run (msb).2. Distance to run (intermediate byte).3. Distance to run (lsb).Status STATA.None.These instructions execute or prepare movement over a given distance, which isspecified in "LU" units. The distance can be positive or negative, the reference beingthe last final position. After calculation and memorizing of the new final position, theST1 reacts in the same way as for an E/PAMOV instruction.If a movement is in progress as a new ERMOV instruction is received, a single"general" movement is performed, equal to the sum of the two movements. There is nointervening stop.If a PRMOV "movement-preparation" instruction has already been sent to the ST1, itwill be cancelled by the new PRMOV.If a "RUN" type movement is in progress, an RMOV will refer to the shaft position atthe time the instruction is received.105
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Socapel ST1A Digital Motion Control
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49Figure 8.1 : Reference computer+
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Software for the synchronization of axes - Kollmorgen

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