Software for the synchronization of axes - Kollmorgen

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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
SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.ASCHEMATIC DIAGRAM1K•Range : ± 10V3,9V zeners bringbetter use ofpotmeter rangeResolver connectorsub-D 15 pinsX24 on R-board of ST1or X241 of 2-resolver adaptor15+15V2 sin2 +screen10891sin2 -+0V-15V0VADVALPOT-15V (only with newer ST1available: ".B" and following)15+15V1K•Range : 0 / +10V210sin2 +sin2 -+ADVALPOT80Vscreen10VVoltage source+210sin2+sin2 -+ADVALPOT0Vscreen810V0VFigure 8.14The reference VALPOT can be interpreted as the RATE factor by the IRG. In thiscase, only the VALPOT absolute value is considered. VALPOT can also be consideredas a distance to travel - see instructions concerning sequencer.VALPOT is an analog reference, conditioned by the following parameters :85
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Page 49 and 50: 49Figure 8.1 : Reference computer+
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Software for the synchronization of axes - Kollmorgen

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