Software for the synchronization of axes - Kollmorgen

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SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.AINDEX(Numbers refer to corresponding pages)absolute position .........................................................14, 47, 96, 100, 102, 104, 106Absolute positioning ..........................................................................................14, 34ACCLIM ..................................................................................................................64ALIPOS ...........................................................................................................69, 101ALISU ..............................................................................................................69, 101ASKABS ..................................................................................................................96ASKACT ..................................................................................................................96ASKDAT ..................................................................................................................94ASKIN .....................................................................................................................95ASKMEM ................................................................................................................94ASKNXT ................................................................................................94, 95, 96, 97ASKPAR .................................................................................................................94ASKPOS .................................................................................................................95ASKPRG .................................................................................................................94ASKSTB ..................................................................................................................97ASKSTC ..................................................................................................................97ASKTOR .................................................................................................................96ASKVAR .................................................................................................................94ASTOP ......................................................................................................58, 88, 104Base Variables ........................................................................................................89basic ...............................................................................................14, 32, 51, 52, 54block diagram ...................................................................................................48, 50CA1 .......................................................................................................56, 57, 64, 88CA2 .......................................................................................................56, 57, 64, 88CADBIN ..................................................................................................................45CADMA1 ...........................................................................................................45, 47CADMA2 .................................................................................................................47CDEPHA .................................................................................................................35CHKSUM ..............................................................................................................110CKA .....................................................................................54, 55, 57, 58, 59, 60, 88CKAINV ...........................................................................................54, 55, 59, 60, 88CKH ..................................................................................................................59, 88CKM ..............................................................................................61, 62, 63, 88, 102CKMS ......................................................................................... 61, 62, 63, 88, 102CKR ..................................................................................................................59, 88CKS ....................................................................................... 61, 62, 63, 79, 88, 102CKV ...........................................................................................54, 55, 56, 57, 60, 88CLECOM ................................................................................................................32CMASKA ...........................................................................................................30, 45CMASKS ...............................................................................................30, 45, 97, 98CMASKU .....................................................................................................24, 30, 45CMPBIN ..................................................................................................................45CMPMA1 ...........................................................................................................45, 46CMPMA2 .................................................................................................................47COCOU ......................................................................................................66, 82, 90codes ........................................................................................................15, 24, 103COEPOT .................................................................................................................86COULIM ....................................................................................................44, 90, 108COUMA ...................................................................................................44, 90, 108CPCORB ...............................................................................................................69CPCORC ................................................................................................................69CRANS .........................................................................................61, 62, 63, 88, 102CSCAN ...............................................................................................68, 69, 88, 102CURES .............................................................................................................33, 89112
SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.ACVP .............................................................................................56, 57, 88, 104, 106CVS .........................................................................................................................57decimal point .....................................................................................................23, 24derivative ................................................................................................................41DPOMA ........................................................................................................... 40, 43DPOS ........................................................................................26, 39, 40, 43, 46, 89drive ............................................................................................................44, 64, 78DVIT ......................................................................................................26, 39, 40, 90EAMOV ....................................................................................................... 102, 104EEPROM ........................................................................................11, 15, 28, 32, 93EQUPOS ............................................................................................................ 102ERMOV ...................................................................................................26, 102, 105ERPOS ................................................................................................... 56, 76, 107ERUN ..........................................................................................26, 52, 76, 104, 106ESPOS ......................................................................................................56, 73, 107ESRUN .................................................................................................................106ETOP ..............................................................................................................87, 108EXECUTABLE INSTRUCTIONS ............................................................................91feed-forward command ...........................................................................................82Feed-forward Commands .................................................................................38, 39feed-forward control ................................................................................................38FEXT ............................................................................................................... 43, 99FILL ..................................................................................................................... 110FILTEI .....................................................................................................................64FILTPOT .................................................................................................................86FLSUIV .............................................................................................................70, 90FSEC ......................................................................................................................42FVISC ................................................................................................................... 42HARDWARE .................................................................................................9, 13, 17IMAGNN .................................................................................................................36INERT .....................................................................................................................42INIABS ..........................................................................................................102, 104INIPGM .................................................................................................................109INIPM ......................................................................................................87, 100, 101INIPS .............................................................................................................100, 101Instructions Concerning the Status .........................................................................97internal reference generator ...................................................................................50internal unit .............................................................................................................59internal units ....................................................................................................54, 104IRG .........................................................................................................................50KIGLIN ....................................................................................................................36KPOS ............................................................................................... 40, 41, 99, 106KRATE ..................................................................................................56, 58, 74, 90KSIINV .................................................................................................................. 34KSIN ........................................................................................................................34KTEGR .............................................................................26, 40, 41, 43, 44, 99, 106KTINV .....................................................................................................................35KVIRB .................................................................................................................. 34KVIRIN ....................................................................................................................34KVIT ..................................................................................................................41, 99LDPGM .................................................................................................................109limit values ........................................................................................................47, 54LIMTOR ..........................................................................................................44, 108microprocessor ...................................8, 9, 12, 13, 15, 16, 17, 23, 54, 55, 92, 93, 95microprocessors .......................................................................................................9Modifying the Parameters .......................................................................................91MOTB/MOTA ....................................................................................................... 90Motor acceleration ................................................................................................ 51Motor position .........................................................................................51, 102, 104motor speed ....................................................................................14, 26, 29, 40, 51113
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Socapel ST1A Digital Motion Control
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SOCAPEL SA SOFTWARE FOR SYNCHRONIZA
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49Figure 8.1 : Reference computer+
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