Software for the synchronization of axes - Kollmorgen

SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A8.4.2 UnitsThe internal units described above give excellent resolution for both speeds andaccelerations. They require the processing of a large number of data bits to cover thelimit values, but this is not problematic for the ST1's microprocessor.In order to process a lower number of bits, thus increase processing speed, theinternal reference generator works with its own system of units. Its position unit is theGenerator Unit (GU). It employs the basic time unit (TU).GU's are converted into TU's using the parameters CKA and CKAINV, which arebinary coefficients. These coefficients also define the acceleration scale. Theparameter CKV defines the speed scale.8.4.3 Parameters CKA and CKAINVThe parameter CKA sets the scale factor for the acceleration. The choice is limited tothe values in the table below.The parameter also allows the definition of the positive rotation direction of the motor.When this becomes apparent from the resolver, the positive direction corresponds tocounterclockwise rotation of the motor shaft ("mathematical" definition).The parameter CKAINV is only an auxiliary parameter. It is also determined with thehelp of the following table.Acceleration [rad/s2] CKA CKAINVFull scale Resolution PositivedirectionNegative direction1,710 0.0527 4 - 4 (h : FFFC) 16,384 (h : 4000)3,420 0.1053 8 - 8 (h : FFF8) 8,192 (h : 2000)6,850 0.2107 16 (h : 10) - 16 (h : FFF0) 4,096 (h : 1000)13,700 0.4212 32 (h : 20) - 32 (h : FFE0) 2,048 (h : 800)27,400 0.843 64 (h : 40) - 64 (h : FFC0) 1,024 (h : 400)54,800 1.685 128 (h : 80) - 128 (h : FF80) 512 (h : 200)109,000 3.37 256 (h : 100) - 256 (h : FF00) 256 (h : 100)54