Software for the synchronization of axes - Kollmorgen

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SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.ACONTENTS1. INTRODUCTION ................................................................................................................. 82. HARDWARE........................................................................................................................ 92.1 MICROPROCESSOR .......................................................................................... 92.2 PROGRAM MEMORY.......................................................................................... 92.3 PARAMETER MEMORY.................................................................................... 112.4 CYCLE TIME...................................................................................................... 123. SOFTWARE DESCRIPTION............................................................................................. 133.1 PROGRAM......................................................................................................... 133.2 VARIABLES........................................................................................................ 153.3 PARAMETERS................................................................................................... 153.4 PRECISION FORMATS ..................................................................................... 164. TOOLS FOR PARAMETER SET UP AND COMMISSIONING......................................... 174.1 TEST DEVICE.................................................................................................... 174.2 USE OF A PERSONAL COMPUTER (PC) ........................................................ 174.3 SOFTWARE DOWNLOADING .......................................................................... 174.4 DOWNLOADING PROCEDURE........................................................................ 185. STATUS DISPLAYS .......................................................................................................... 235.1 PRINCIPLE......................................................................................................... 235.2 SIGNIFICANCE OF THE DECIMAL POINT....................................................... 235.3. STATUS CODES................................................................................................ 246. STATUS BYTES AND MASKS.......................................................................................... 256.1 GENERAL .......................................................................................................... 256.2 STATUS BITS .................................................................................................... 266.2.1 Status STATA ..................................................................................... 266.2.2 Status STATB ..................................................................................... 276.2.3 Status STATC..................................................................................... 286.2.4 Status STATD..................................................................................... 286.2.5 Status STATE ..................................................................................... 296.3 STATUS MASKS................................................................................................ 306.4 RESET OF STATUS BITS ................................................................................. 312
SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A7. DESCRIPTION OF BASIC ................................................................................................ 327.1 GENERAL .......................................................................................................... 327.2 EEPROM............................................................................................................ 327.2.1 Parameter CLECOM........................................................................... 327.2.2 Parameter VSOFT .............................................................................. 327.3 PARAMETERS FOR POSITION FEEDBACK ................................................... 337.3.1 Parameter CURES.............................................................................. 337.3.2 Parameters KVIRB.............................................................................. 347.3.3 Parameter NPPOL.............................................................................. 347.3.4 Parameter NVERN.............................................................................. 347.4 MOTOR PARAMETERS .................................................................................... 357.4.1 Motor File Libraries ............................................................................. 357.4.2 Parameter CDEPHA ........................................................................... 357.4.3 Parameter KTINV................................................................................ 357.4.4 Parameter KIGLIN .............................................................................. 367.4.5 Parameter IMAGNN............................................................................ 367.4.6 Parameter VITN.................................................................................. 377.4.7 Parameter VITMAX............................................................................. 377.5 POSITION CONTROLLER................................................................................. 387.5.1 Feed-<strong>for</strong>ward Commands ................................................................... 387.5.2 Position Controller............................................................................... 397.5.3 PI Speed Controller............................................................................. 407.5.4 Parameter KPOS ................................................................................ 417.5.5 Parameter KVIT .................................................................................. 417.5.6 Parameter KTEGR.............................................................................. 417.5.7 Parameter INERT ............................................................................... 427.5.8 Parameter FVISC................................................................................ 427.5.9 Parameter FSEC................................................................................. 427.5.10 Parameter FEXT................................................................................. 437.5.11 Parameter DPOMA............................................................................. 437.5.12 Parameter SEUIL1.............................................................................. 447.5.13 Parameter COUMA............................................................................. 447.5.14 Parameter COULIM ............................................................................ 447.6 STATUS MASKS................................................................................................ 453
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