Software for the synchronization of axes - Kollmorgen

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SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A8.4 INTERNAL REFERENCE GENERATORThe internal reference generator has two distinct functions :- control and monitor machine movements,- speed- and acceleration-changing (this function prepares data for the monitoringfunction).8.4.1 Control and Monitoring of Machine MovementsThe basic function of the internal reference generator consists in altering a continuousspeed reference over successive time units, while incorporating any instructionsreceived in the meantime, or any variables changing during the movement. This speedreference is the variable VGES. The corresponding acceleration reference is thevariable ACGES.The function applies in two ways :- motion executed in terms of speed, that is, commanded by instructions of the"RUN" type (such as ERUN, SRUN etc.);- motion executed in terms of position, that is, commanded by instructions of the"MOV" or "POS" types (such as EMOV, RMOV, SPOS etc.).Motion executed in terms of speed (referred to hereafter as "RUN motion") :The speed changes from one value to another (conditioned by the acceleration anddeceleration ramps), WITH NO ALLOWANCE for positioning, either before or after thespeed change.Instruction receivedVGESAccelerationFinal speedV initialV initialDecelerationtAccelerationFinal speedFigure 8.352
SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.AData :- Initial VGES value; current speed when instruction received;- VPAL (the terminal speed);- KACC1, KACC2 (acceleration values).Results :- VGES, ACCGES.Motion executed in terms of position (referred to hereafter as "MOV/POS motion") :The speed changes from an initial value to a NULL value, transiting through anintermediate speed but with integral speed control (thus motion occurs during thechange).(intermediate) speed levelVGESInstruction receivedV pal.Figure 8.4Data :- Initial VGES value; current speed when instruction received;- VPAL (the terminal speed, or travel speed);- KACC1, KACC2 (acceleration values) :- PGES (distance to travel).Results :- VGES, ACCGES.53
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