Software for the synchronization of axes - Kollmorgen
Software for the synchronization of axes - Kollmorgen
Software for the synchronization of axes - Kollmorgen
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SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A8.7.3 Synchronizing and Phase-followingThe above discussion concerning synchronizing and desynchronizing considered <strong>the</strong>factor <strong>of</strong> speed only. Some instructions allow synchronizing and desynchronizing wi<strong>the</strong>mphasis on <strong>the</strong> respective positions <strong>of</strong> <strong>the</strong> master and slave shafts (<strong>for</strong> example,instruction "ESPOS"). Such instructions are accompanied by a data packet indicating<strong>the</strong> relative positions <strong>of</strong> <strong>the</strong> shafts after synchronizing.For position-based synchronizing, <strong>the</strong> s<strong>of</strong>tware calculates <strong>the</strong> respective shaftpositions be<strong>for</strong>e synchronizing, acknowledging <strong>the</strong> data accompanying <strong>the</strong> instruction<strong>the</strong>n initializing a movement via <strong>the</strong> IRG. This movement starts simultaneous with <strong>the</strong>synchronizing action; when it is over, <strong>the</strong> shafts are synchronized with <strong>the</strong> phasecommanded by <strong>the</strong> user.VSynchronizing instruction receivedVMUStVVMUSas seen behind<strong>the</strong> switchtVVGESCA2CA1tVCA2VIREFCA11CA2t2 3Figure 8.9Based on <strong>the</strong> relative shaft positions and <strong>the</strong> value parametered into VPLA, <strong>the</strong> slaveshaft can act in three ways during a "synchronize" command :73
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