Software for the synchronization of axes - Kollmorgen

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SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A8.5.8 OM/OS SystemThe references supplied by the master shaft are routed through optical fibers, andhandled by the (optional) OS board. After shaping, these references are immediatelyforwarded to any other optional OS boards installed. See also paragraph 8.11 -"Reference Transducer".If the reference is a speed, it is copied into the variable VMAST and converted intovariable VMUS.The following conversion rules apply :CKSCKM CRANS VSlave⋅ = ⋅RANMVMasterCKMS=CKS ⋅ 32768CKMRANM depends on the COMOS parameter of the master shaft.The COMOS parameter of the slave shaft in turn depends on the type of referencestransmitted by the master shaft - see paragraph 8.11.2.8.5.9 OM/OS Torque SystemIn this mode, the master ST1, fitted with an OM board, transmits its torque componentthrough the optical fiber. This component is in fact the content of the variable COCOU.The slave ST1 (fitted with an OS board) reads the torque reference, applies anynecessary corrections, and transmits it to its own motor; it also cancels its own speedandposition-controller.To select this mode, the parameter COMOS on the master ST1 must be set to 7, andthe corresponding COMOS on the slave ST1 to 37,769 (hexa : 8001).The slave ST1 can correct the received reference, as follows :CKMS CRANSCs = Cm ⋅ +4096 128where : Cs = slave torque (in Nm)Cm = master torque (in Nm)Example :If the slave torque has to be the same as the master torque, then :CKMS = 4,096 CRANS = 066
SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A8.5.10 "Second resolver" ConnectionAn angular position reference can be generated by a second resolver connected to the15-pin sub-D connector of the ST1's "R" board. This position is copied into the variable"PMAST". It allows calculation of speed VMAST, which, after conversion, provides thevariable VMUS.The following conversion factors apply :CKSCKM CRANS VSlave⋅ = ⋅RANMVMasterCKMS=CKS ⋅ 32768CKMIt should be noted that the factor RANM is forced to a value of 256 (hexa : 100) whenthe parameters are selected. The new position of PMUS is determined by summingthe speeds. Nevertheless, at power-up or RESET, PMUS takes the absolute resolvervalue, but can be overridden by later resets.67
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Socapel ST1A Digital Motion Control
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SOCAPEL SA SOFTWARE FOR SYNCHRONIZA
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Software for the synchronization of axes - Kollmorgen

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