Software for the synchronization of axes - Kollmorgen

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SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A8.9 CALCULATION EXAMPLEThe purpose of this exercise is to calculate the parameters for the following application :A form-roller bearing an impression is used to print pages rotating on a cylinder. The cylinderis driven by a free motor : this represents the "master shaft". An encoder mounted on thecylinder feeds a reference signal to an ST1, via a multiplier and an OEI board. The ST1controls the motor driving the form-roller (via a reducing unit with toothed drive belt). Thelatter assembly represents the "slave shaft".Toothed pulley31 teeth120 teethPrinter rollcircumference 500 mmMotorResolverMultiplierx5O E IMaster shaftEncoder8,192 dashes / rev.Cylindercircumference 1,800 mmusable part 1,500 mmST1Figure 8.12Through the action of the multiplier on the OEI board, the ST1 will receive8,192 . 20 = 163,840 pulses per cylinder rotation. It can be seen from therespective circumferences that the system is synchronized for only threerevolutions of the form-roller, after which desynchronizing occurs, withretarding of the slave shaft, then resynchronizing. The periods of themaster and slave are not identical.78
SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.ACalculating the conversion coefficients :Note :CKSCKM CRANS VSlave⋅ = ⋅RANMVMasterExpressing speeds in terms of cylinder rotations :VSLAVE = 1800500VMASTER = 8192 . 20⋅ 12031 ⋅65536RANM= 256 (OEI),whenceCKSCKM ⋅ CRANS = 108 ⋅8155⋅256By setting CRANS = 8 . 256 = 2,048, the limits of the ratio CKS/CKM are respected.Now multiply CKS and CKM by 128 to improve the resolution (without exceeding32,768) :CKS = 108 . 128 = 13,824CKM = 155 . 128 = 19,840CKMS =CKS⋅ 32768 = 22,832.CKMCalculating the periodicity parameters :The "slave" period is one rotation of the form-roller expressed in terms of 2 -16 of amotor revolution :120PERIS =31 ⋅ 65536 = 253,687.742Selecting the higher value of 253,688 (in hexa : 3,DEF8) :PERISC = 0003PERISB = DEF8Check the effect of rounding on the high values : after 31 periods, MOPHI should beexpressed as a complete number of motor revolutions (MOPHIB should be 0). Since :PERIS . 31 = 253,688 . 31 = 7,864,328 (hexa : 78,0008)then MOPHIC = 0078 MOPHIB = 0008.MOPHIB should be 0 : the value "8" is due to the effect of rounding. This is correctedby setting ZMPERS = 9. Now the system will automatically reset MOPHIB to zero anytime it is below 9, that is, after 31 periods.The master period is one cylinder rotation expressed as 2 -16 of a motor revolution.79
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Socapel ST1A Digital Motion Control
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