Software for the synchronization of axes - Kollmorgen

SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A8.7 SWITCHING THE SYNCHRONIZING FUNCTION8.7.1 SynchronizingParagraph 8.6.1 mentioned two operating modes : synchronized and desynchronized,selected by the variable FLSUIV. This variable stores the mode requested in the"synchronize" and "desynchronize" instructions. Synchronizing can be achieved evenif the master shaft is rotating. It will be appreciated that if FLSUIV is switched to followa master shaft that is already rotating, then the speed reference VIREF will undergo ajump.VIREFtFigure 8.5This situation is inadmissible since it would cause infinite acceleration and throw outthe slaving system. Hence the necessity to "assist" the speed-change by applying acontrolled acceleration through the IRG.Since VIREF = VGES . KA before synchronizing, and VIREF = VMUS + VGES . KAafter synchronizing, it is simply necessary to reinitialize VGES to ensure that VIREFremains unchanged at the point of synchronicity.This is achieved by subtracting the value of VMUS/KA from VGES. Now the sum willbe identical at the initial instant. Afterwards the internal reference generator willchange VGES to a new value (null or otherwise), respecting the required accelerationvalues.70