Software for the synchronization of axes - Kollmorgen

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SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A8.7.2 DesynchronizingDesynchronizing relies on a similar principle : VGES is incremented by the value ofVMUS/KA, to avoid violent transition on VIREF.VDesynchronizing instruction receivedVMUStVVMUSas seen behindthe switchtVVGESCA2tVVIREFtFigure 8.8As with Figure 8.6, VGES can have a non-null value both before and afterdesynchronizing; the essential point is that it undergoes a compensatoryspeed-change to reflect the change in apparent speed VMUS.72
SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A8.7.3 Synchronizing and Phase-followingThe above discussion concerning synchronizing and desynchronizing considered thefactor of speed only. Some instructions allow synchronizing and desynchronizing withemphasis on the respective positions of the master and slave shafts (for example,instruction "ESPOS"). Such instructions are accompanied by a data packet indicatingthe relative positions of the shafts after synchronizing.For position-based synchronizing, the software calculates the respective shaftpositions before synchronizing, acknowledging the data accompanying the instructionthen initializing a movement via the IRG. This movement starts simultaneous with thesynchronizing action; when it is over, the shafts are synchronized with the phasecommanded by the user.VSynchronizing instruction receivedVMUStVVMUSas seen behindthe switchtVVGESCA2CA1tVCA2VIREFCA11CA2t2 3Figure 8.9Based on the relative shaft positions and the value parametered into VPLA, the slaveshaft can act in three ways during a "synchronize" command :73
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Software for the synchronization of axes - Kollmorgen

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