Software for the synchronization of axes - Kollmorgen

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SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.AComments :1. If the number of pole pairs in the resolver is greater than 1, divide the resultobtained under b) by that number.2. If the conditions in c) are not fulfilled, consider one of the following actions andthen redo the calculations from the beginning :- Modify the ratio of the gearing (if still feasible).- Select another length unit LU (for example : 1' instead of 0.1°).- Select other values for CKA, CKAINV and CKV even if the resolution on theacceleration becomes worse.3. The number ¹ may be replaced by the fractions 22/7 (error 403 ppm, in excess)or 355/113 (error 0.085 ppm in excess).AddressDefault valueCKR 147 (hexa : 93) 4,096 (hexa : 1000)CKH 148 (hexa : 94) 4,096 (hexa : 1000)When CKA = 16 (hexa : 10) or -16 (hexa : FFFO), these values correspond to thedefinition : 4,096 LU = 1 turn.60
SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A8.5 LINK WITH MASTER SHAFT8.5.1 PrincipleAn ST1 motion controller can be connected to, hence receive commands from, amaster shaft. Three types of connection are possible :- "OEI connection" : the master shaft is fitted with an incremental encoder, whichcommunicates with the ST1 through an optional OEI board.- "Second resolver connection" : the shaft is fitted with a resolver connected tothe second resolver input of the ST1.- "OM/OS connection" : the master shaft is controlled by a second ST1 fitted withan OM board. The slave ST1 is fitted with an OS board; references are routedbetween the boards by an fiber-optic link.References generated by the master shaft are read and stored in variables namedwith mnemonics starting with "MAST" ("Master"). They retain the master's systemunits.The references are then converted into the unit system of the slave, and stored invariables with mnemonics starting with "MUS" ("Master : Units = Slave"). Thisconversion is performed using the coefficients CKS, CKM, CKMS and CRANS. Theseparameters enable converting without cumulative error due to non-integer ratios.Conversion is always applied to the speed data, that is, the variable VMAST isconverted, giving the variable VMUS. The new position (variable PMUS) is deduced bysumming the various VMUS speed components.61
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Software for the synchronization of axes - Kollmorgen

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