Software for the synchronization of axes - Kollmorgen

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SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.AInternal referencegeneratorAddertoward position andvelocity controllerMastershaftLink andconversionReferencetransducertoward otherST1sFigure 8.2 : General Block Diagram (reduced format)The INTERNAL REFERENCE GENERATOR (abbreviated hereafter to "IRG") transformsinstructions from the host or the sequencer into a string of speed and position commands;these are updated at each sampling cycle (TU). The generator is described in paragraph 8.4below.The link with the MASTER SHAFT supplies speed and position commands updated at eachsampling period. These commands undergo unit conversion. The link is described inparagraph 8.5.The ADDER combines the above two commands according to set modes contained in thehost and sequencer instructions. This process is described in paragraph 8.6. This summationresults in :- a reference speed (variable "VIREF"),- a corresponding reference position (variable "PHIRE"),- a reference acceleration (variable "AR").The above three components are sent to the position/speed controller, in the same units asthose taken at the motor by the resolver. The position measurement is an absolute valuewithin the given period.The REFERENCE TRANSDUCER (see paragraph 8.11) feeds the references to the otheraxes.50
SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A8.3 PRINCIPLETime baseThe ST1 sampling period is also used as the basic time unit (TU); it is set by a crystal with anaccuracy of ± 100 ppm. For most software versions, this period equates to 1/3,000 sec. =333.3 µs, or a frequency of 3 kHz ± 0.3 Hz.Motor positionA one-speed resolver is normally employed, that is, having a single pole-pair. Thus theresolver period corresponds to one actual rotation of the motor. Hence the resolver unit (RU)is expressed as :1 RU = 2 -32 motor revs.If a higher number of poles is used, the motor rotation period is reduced accordingly.Example :Resolver with four pole-pairs : 1 RU = 2 -34 motor revs.Motor speedThe motor speed measurement is based on the two units defined above. For a resolverhaving a single pole-pair, the speed unit (RU/TU) is therefore expressed as :1 RU/TU = 2 -32 motor revs . 3,000 rps = 4.39 . 10 -6 rad/s.The effect of crystal precision on speed is described in paragraph 8.10 within the context ofsynchronization precision.Motor accelerationAcceleration measurement is obtained from the position and time units. The acceleration unit(RU/TU 2 ) is given by :1 RU/TU 2 = 2 -32 . 3,000 2 rp/s 2 = 13.2 . 10 -3 rad/s 2.51
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