Software for the synchronization of axes - Kollmorgen

SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A8.6 SUMMATION AND SYNCHRONIZING8.6.1 Adder and IntegratorNote : The term "internal reference generator" is abbreviated to "IRG".Instructions can select one of two operating modes :Desynchronized mode :- The master shaft is not considered. In this case, the reference speed (variable'VIREF') is that delivered at the IRG output (in the form of variable VGES), withapplication of the coefficient KA : VIREF = VGES . KA.Similarly, for acceleration : AR = ACGES . KA.Synchronized mode :- The master shaft is considered. In this case, the IRG speed is added to themaster-shaft speed : VIREF = VGES . KA + VMUS.Similarly, for acceleration : AR = ACGES . KA + AMUS.In either of these operating modes, the reference position (variable PHIRE) is obtainedby adding the reference speed (variable VIREF), corrected by two additional elements:PHIRE = INTV + NBSCAN . VMUS + PCOR.In the above equation :- The variable INTV is obtained by continuously adding VIREF. It can beinitialised by various instructions (see paragraph 10.6).- The variable NBSCAN is for compensating the delay in transmitting the mastershaftspeed : this delay depends on the transmission method used. It causes aposition shift between the master and slave shafts, proportional to the speed.- The variable NBSCAN (copied from the parameter CSCAN) translates theabove-mentioned delay into a round number of sampling periods.- The variable PCOR (copied from the parameter CPCOR) allows insertion of aposition shift between INTV and PHIRE, useful during initial set-up etc.68