Software for the synchronization of axes - Kollmorgen

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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
SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A8.6.2 Parameter CSCANThis parameter is the multiplier applied to the speed to be monitored (to compensatefor transmission lag).The value of CSCAN is copied from the variable NBSCAN during execution of theUPGRAD instruction; it must be positive, between 0 and 20.The respective values of CSCAN in the three systems are as follows :- OM/OS system : CSCAN = 0In this system, if the speed of the master shaft depends on a second resolver, theslave ST1's must have the same CSCAN values as the master shaft.- OEI system : CSCAN = 2- second resolver system.In this case, CSCAN depends on the software employed for this shaft, and can bedetermined empirically by measuring the physical error between the shafts. The size ofthe error for a zero or low speed is compared against the error for a high speed. Theerror differential is then divided by the difference between both speeds; the result is atime, which represents the transmission lag. This is expressed in the CSCANparameter (in TU).Address :119 (hexa : 77)Default value : 0.8.6.3 Parameters CPCORC / CPCORBThese parameters determine the position shift between the variables INTV andPHIRE.This position shift allows for independence between the resolver zero (= PHIRE zero)and the mechanical zero (= INTV zero).The two parameters are inserted as for any others, or via the instructions ALIPOS andALISU (q.v.). They are expressed in internal-system units :1 lsb = 2 -16 motor revolutionThe sum CPCORC / CPCORB can be positive or negative, with a value between 0and ± 2,147,483,647 (hexa : 0 ... 7FFF,FFFF).AddressDefault valueCPCORC 106 (hexa : 6A) 0CPCORB 107 (hexa : 6B) 069
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Software for the synchronization of axes - Kollmorgen

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