Software for the synchronization of axes - Kollmorgen

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SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A8.4.9 Parameter ASTOPIf an acceleration value is contained in a "STOP" command, this value may bespecified separately from the normal accelerations by means of the parameterASTOP. The latter can take any positive value between 1 and 32,767 (hexa : 1 ...7FFF). The value 32,767 (hexa : 7FFF) corresponds to 100.8 % of the full scale asdetermined by parameter CKA.If ASTOP is introduced as = 32,768 (hexa : 8000), or zero, this parameter is ignored.In this case, the acceleration value for this STOP is as contained in variable KACC2.Address :155 (hexa : 9B).Default values : 32,768 (hexa : 8000).(The latter value disables parameter ASTOP).8.4.10 Parameters MRATE and SRATEAs discussed in paragraph 8.4.5 above, the variable KRATE acts on speed andacceleration values. The variable FLRATE determines which component is copied intoKRATE; it therefore determines the effect of KRATE on the acceleration. At systemstart-up, or during instructions containing no synchronizing component, the parameterMRATE is copied into variable FLRATE. If the instruction does contain a synchronizingcomponent, the parameter SRATE is copied into variable FLRATE.FLRATE Component copied Modulation0 (hexa : 0) Parameter RATE active1 (hexa : 1) Potentiometer setting active2 (hexa : 2) VMUS/KA . KV active32,768 (hexa : 8000) Parameter RATE inactive32,769 (hexa : 8001) Potentiometer setting inactive32,770 (hexa : 8002) VMUS/KA . KV inactiveIt is not allowed for MRATE or SRATE to have values other than those given in theabove table.AddressDefault valueMRATE 172 (hexa : AC) 32,768 (hexa : 8000).SRATE 173 (hexa : AD) 32,770 (hexa : 8002).8.4.11 Parameter RATERATE can be used in the same way as KRATE. It must be positive, with a valuebetween 1 and 4096 (hexa : 1 ... 1000). The latter value corresponds to a multiplier of100%.Address :170 (hexa : AA).Default values : 4,096 (hexa : 1000) (= 100%).58
SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A8.4.12 Program Position UnitsThe position unit used by the host processor or the sequencer may differ from theinternal unit described in paragraph 8.3. In this case a "length unit" (LU) must bedetermined, and used throughout the application or function.Example :1 LU = 1 µm, 10 µm, 0.1 mil, 0.1° etc.Standard software versions can process positions expressed in LU in three-byteformat (23 bits + sign). This corresponds to values between - 8,388,607 and+ 8,388,607 [LU]. Conversion of LU's into GU (generator units) employs parametersCKR and CKH.8.4.13 Parameters CKR and CKHThe values of these two parameters depends on the following factors :- The position unit (LU) selected.- The gearing ratio planned.- The CKA and CKAINV factors determined beforehand.- The number of pole pairs in the resolver.It is recommended to proceed as follows :a) Determine the exact relation between the deviation corresponding to one turn ofthe motor and the selected deviation unit LU. N1 and N2 being two positivewhole numbers, the result is as follows :N1 . 1 LU = N2 . 1 turnb) CKR and CKH are then given by :CKRCKH=CKAINV ⋅ N 2N1c) Verify that the result is between 1/1 and 256/1. Verify also that both thenumerator and denominator are between 1 and 32,767.59
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