Software for the synchronization of axes - Kollmorgen

SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A10.7.6 Instructions ERUN and PRUNInstruction code : 9 and 8, respectively.Data bytes :Answer byte :Tests :1. New speed (msb).2. New speed (lsb).Status STATA.1. None.These instructions produce and maintain the motor rotation speed at the valuespecified, or prepare such a movement. They apply equally to an acceleration or adeceleration.The new speed is expressed as a percentage of the full scale, as for parameter CVPdescribed in paragraph 8.4.6.The sign of the value transmitted indicates the desired direction of rotation. Speedreversal is tolerated.The instructions also desynchronize a slave shaft in relation to a master shaft. Afterthe instruction, the speed will thus be the new speed independent of the master shaft.Although the displacement value is not taken into account in producing the speedcomponent, the motor can remain slaved to position and speed if the parametersKPOS and KTEGR are correspondingly adjusted.Similarly, the absolute position is continuously updated to validate later AMOVinstructions.10.7.7 Instructions ESRUN and PSRUNInstruction code : 17 and 16, respectively (hexa : 11 & 10).Data bytes : 1. New address (msb)2. New address (lsb)Answer byte :Tests :Status STATA.None.These instructions allow executing or preparing speed-synchronizing of a slave shaftin relation to a master shaft. The new speed specifies an offset in relation to themaster, and can be positive or negative. It is expressed as a percentage of the fullscalereading106