Software for the synchronization of axes - Kollmorgen

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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
SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.AComments :- The acceleration values indicated are valid for a resolver with one pole pair("one-speed"). For other models, the desired acceleration should be multipliedby the number of pole pairs before consulting the table.- The parameters CKA and CKAINV are only taken into consideration duringsetup of the initial system parameters.AddressDefault valueCKA 144 (hexa : 90) 16 (hexa : 10)CKAINV 145 (hexa : 91) 4,096 (hexa : 1000)8.4.4 Parameter CKVHaving determined the parameter CKA, the scale for the speed is set with theparameter CKV. After defining (in rad/s) the speed of the motor to the full scale (100%), and CKA being known, CKV is obtained by :CKV =ω rad s 28PE[ / ]⋅2CKA ⋅32767 ⋅375⋅π695 . ⋅ω [ rad / s]PE=CKAComments :- CKV should be a positive integer.- The product of CKV . |CKA| should be less than 16,384, which corresponds to amaximum scale of 22,500 rpm.- The parameter CKV is only taken into consideration in the initialization of themicroprocessor.Address : 146 (hexa : 92).Default value : 273 (hexa : 111).When CKA = 16 (hexa : 10) or - 16 (hexa : FFF0) this default value corresponds to afull scale of 618 rad/s or 6,000 rpm.55
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