Software for the synchronization of axes - Kollmorgen

SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A8.8.4 Parameter ZMPERSIf the period is a non-binary fraction of a motorrevolution, the parameter will be unable to express it exactly and this would lead tocumulative errors in the variable MOPHI. Parameter ZMPERS obviates this problemby ordering MOPHI to reset each time the number of periods equates to a full motorrevolution. MOPHIB is compared with a tolerance factor and is reset each time it iswithin the threshold. ZMPERS expresses this tolerance in the same units as PERIS.One lsb in ZMPERS equals one lsb in PERISB, or 2 -16 motor revolutions.Example 1 :Period = 1/3 motor revolutions. This gives PERISB = 21,845. After three periods,MOPHIB will be at 65,535 (or minus 1). Thus ZMPERS needs to be 2 in order tocommand a zero-reset at MOPHIB.Example 2 :Period = 6/7 motor revolutions. This gives PERISB = 56,173. After seven periods,MOPHIB will be at 6 . 2 -16 revolutions. However : ZMPERS must be less than9,362 ( 655367) otherwise it would already be reset to zero after one period.The value of ZMPERS must be positive, between 0 and 32,767 (hexa : 0 ... 7FFF).Address :113 (hexa : 71)Default value : 256 (hexa : 100)8.8.5 Parameter ZMPERMThis parameter has the same function as ZMPERS but is attributed to the mastershaft. See above.When ZMPERM = 32,768 (hexa : 8000), the pseudo-periodic mode is selected.The value of ZMPERM must be positive, between 0 and 32,768 (hexa : 0 ... 8000).Adress : 110 (hexa : 6E)Default value : 256 (hexa : 100)77