Software for the synchronization of axes - Kollmorgen

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SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A8.12.2 Parameter OFPOTThis parameter expresses the offset added to the reference.The value of OFPOT can be positive or negative, between 0 and ± 32,767(hexa : 0 ... 7FFF).Address :188 (hexa : BC)Default value : 0.8.12.3 Parameter FILTPOTThis parameter limits incrementing of the new reference value from the old value; ittherefore performs a filter function.Incrementing is based on a percentage of the input value :newPOT = oldPOT + newPOT ⋅FILPOT4096It should be noted that a new conversion occurs once every 2.3 ms only.The value of FILTPOT is positive, between 64 and 32,767 (hexa : 40 ... 7FFF).Address :189 (hexa : BD)Default value : 4,096 hexa : 1000).8.12.4 Parameter COEPOTThis parameter expresses the coefficient applied to the reference.VALPOT = newPOT ⋅ COEPOT + OFPOT4096The value of COEPOT is positive, between 1 and 32,767 (hexa : 1 ... 7FFF).Address :190 (hexa : BE)Default value : 4,096 hexa : 1000).86
SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A8.12.5 Parameter ZMPOTThis parameter expresses a dead band around the reference value; a voltage insidethe limits is considered as null.The value of ZMPOT must be positive, between 0 and 32,767 (hexa : 1 ... 7FFF).Address :191 (hexa : BF)Default value : 0.8.13. MISCELLANEOUS PARAMETERS8.13.1 Parameter TIMTOPThis parameter can be employed to improve the precision of instructions ETOP andINIPM whenever they are available. What TIMTOP actually expresses is the physicaldetection and transmission delay that triggers these functions. One lsb in TIMTOPequals 0.02844 ms. The software takes account of this delay and the speed to correctthe corresponding positions.Computation of parameter TIMTOP takes account for the reaction time of the sensorand the 96delay dued to the input filter. A 1/6 ms delay must be added, whichcorresponds to half of the capture-time uncertainly (ST1 software cycle-time is1/3 ms).If input INO of the LIO board is used, this uncertainly may be reduced to 0.01422 ms.TIMTOP value must be then incremented by 32,768.Example 1 : Sensor delay : 2.5 msInput filter delay :0.6 msCapture-delay (average) :0.167 msTotal average delay :3.26 msTIMTOP = 3.26 ms / 0.02844 ms = 115Example 2, using input INO :Sensor delay :Input filter delay :Capture-delay (average)Total average delay :TIMTOP = 1.814 ms / 0.02844 ms + 32,768= 32,832 (hexa : 8040)1.2 ms0.6 ms0.014 ms1.814 msAddress :56 (hexa s : 9C)Default value : 0.87
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Socapel ST1A Digital Motion Control
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SOCAPEL SA SOFTWARE FOR SYNCHRONIZA
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Software for the synchronization of axes - Kollmorgen

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