Software for the synchronization of axes - Kollmorgen

SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A8.4.5 Speed and Acceleration ModulationSpeed :Variable VPAL serves as the terminal speed for RUN motion, or as the intermediatespeed for MOV/POS motion. Its value is defined by variable KV, copied fromparameter CKV. VPAL can be reduced by two other variables : KRATE and PALINS :VPAL = KV . PALINS . KRATEVariable KRATE depends on the operating mode. It acts as a general coefficient onspeeds and sometimes, accelerations. This coefficient can be either parameterized, orset through a potentiometer, or proportional to the speed of the master shaft. Thisoperating mode is defined by the parameters MRATE and SRATE.Variable PALINS depends on the current instruction (that is, RUN, MOV, STOP,synchronizing engaged/disengaged etc.).Instruction Type : PALINS contains :MOV type and (P)ERPOSParameter CVPSTOP 0%(P)ESPOSRUN typeParameter CVSData content of RUN instructionAcceleration :Variables KACC1 and KACC2 respectively define accelerations and decelerations.They are copied from parameters CA1 and CA2.Depending on parameter MRATE, the above values also can be modulated by thevariable KRATE. In this case, the modulation level is a function of the square ofKRATE in order to get the acceleration acting (cam simulation) :Note :KACC1,2 = CA1,2 . KRATE 2The effect of this modulation feature is limited by the effect of digitizing. If KRATE isdeduced from the master shaft and the shaft position is read by an OEI system or asecond resolver, resolution will be low and hunting will be high. These measurementproblems will be amplified (squared) and the acceleration component will be unusablein certain applications.56