Software for the synchronization of axes - Kollmorgen

SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.ACOMOS RANM Max.speed[rpm]Max.accel.[rad/s2]Data sent1 1 351 430 set value for speed (VIREF)2 16 5,620 6,900 set value for speed (VIREF)3 256 22,500 110,000 set value for speed (VIREF)4 1 351 430 actual speed (VIRB)5 16 5,620 6,900 actual speed (VIRB)6 256 22,500 110,000 actual speed (VIRB)7 - - - torque reference (COCOU)8 1 351 430 master speed in slave units (VMUS)9 16 5,620 6,900 master speed in slave units (VMUS)10 256 22,500 110,000 master speed in slave units (VMUS)The parameter COMOS must be transferred inside a variable in order to be used - seeinstruction UPGRAD, paragraph 10.6.6.Address :114 (hexa : 72)Default value : 0.8.12 POTENTIOMETER INPUT8.12.1 PrincipleWhen the second resolver option is not used, the potentiometer input can be used foran analog (±10 volt) reference supplied by a potentiometer or a voltage source. Thisreference is converted into digital format and inserted in variable VALPOT. Conversionis at low speed (between 7 and 9 TU - 2.3 to 3ms, depending on the softwareinstalled).The potentiometer should be connected to the ±SIN2 differential input of the 15-pinsub-D connector on the ST1's "R" board. If second-resolver adaptor P/N 024.7063 isused, the motor resolver should be connected into the X242 connector. Thepotentiometer or the voltage source are connected into connector X241, per thefollowing diagrams.84