Software for the synchronization of axes - Kollmorgen
Software for the synchronization of axes - Kollmorgen
Software for the synchronization of axes - Kollmorgen
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SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A8. REFERENCE GENERATOR8.1 GENERALThe general block diagram (Figure 8.1) serves as <strong>the</strong> basis <strong>for</strong> <strong>the</strong> present section. Figure8.2 is a reduced <strong>for</strong>mat.The in<strong>for</strong>mation contained in this paragraph is general in<strong>for</strong>mation covering all s<strong>of</strong>twareversions. For reasons <strong>of</strong> per<strong>for</strong>mance and speed, <strong>the</strong> various s<strong>of</strong>tware versions contain onlythose functions that are required <strong>for</strong> <strong>the</strong> particular application.The term "host computer" employed hereafter refers to equipment external to <strong>the</strong> ST1 andused <strong>for</strong> commanding <strong>the</strong> motion controller. The term "sequencer" refers to a s<strong>of</strong>twarefunction per<strong>for</strong>med by <strong>the</strong> LIO board (if installed) - this board can be used with, or in place <strong>of</strong>,<strong>the</strong> host. Each instruction is executed by <strong>the</strong> ST1 within a particular sampling cycle ("TU").8.2 PRINCIPLEThe motor can be slaved to various references provided by <strong>the</strong> internal reference generatoror a "master shaft". These two references are switched in turn, or summed to make a singlereference.48
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