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 the basis for the present section. Figure8.2 is a reduced format.The information contained in this paragraph is general information covering all softwareversions. For reasons of performance and speed, the various software versions contain onlythose functions that are required for the particular application.The term "host computer" employed hereafter refers to equipment external to the ST1 andused for commanding the motion controller. The term "sequencer" refers to a softwarefunction performed by the LIO board (if installed) - this board can be used with, or in place of,the host. Each instruction is executed by the ST1 within a particular sampling cycle ("TU").8.2 PRINCIPLEThe motor can be slaved to various references provided by the internal reference generatoror a "master shaft". These two references are switched in turn, or summed to make a singlereference.48
49Figure 8.1 : Reference computer+ 10VMaster shaft valueOEI, OS or2nd resolverRATEXRATEVALPOTVMUSKV x KACVPCVSDATA RUNLINK WITH MASTER SHAFTINSTRUCTIONPMASTVMASTMRATE / SRATEFLRATE0%CKS CKM CKMS CRANSKS KM KMS RANSMASTER -SLAVECONVERSIONItalic-written mnemo: parameters ( i.e. : CKV)Normal- written mnemo: variables ( i.e. : KV)INTERNAL REFERENCE GENERATORAMUSPMUSVMUS100%KRATEabsolute valuePALINS signed00CSCANNBSCANCPCORPCORXADDERFLSUIVCA1,2XA1,2ACCELERATIONMODULATION+x KAX+++CKVKVXMOTION MANAGERACGES VGESx KA0COCOUINTEGRATORINTVKACC1,2VPALGESVITINTEGRATORPABSREFERENCE TRANSDUCERCOMOStowardother ST1sARB / ARAVIREF+ PHIRESOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A
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