Software for the synchronization of axes - Kollmorgen

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SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A8.14 TRANSFERRING PARAMETERSMost parameters are read by the software as required. Hence when any parameter ischanged, the software will immediately take account of the new value.The above principle does not apply to all parameters : certain functions would performincorrectly if they immediately incorporated changes in certain special parameters.Thus the parameters are transferred into buffer memories, where they can be readand examined by the software. Transfer into buffers occurs at special times : theparameters can be grouped into three categories, depending on when they arebufferized :- parameters CKA, CKAINV, CKV, CKR and CKH are transferred as soon as theprocessor is initialized (that is, at powering-up or reset);- parameters CKS, CKM, CRANS, CKMS, CSCAN and COMOS are transferredsimultaneous with execution of the instruction UPGRAD (see paragraph 10.6.6),and when the processor is initialized;- parameters CVP, CA1, CA2, ASTOP, MSRATE, SRATE and RATE aretransferred simultaneous with execution of the corresponding "move"instructions, that is, at the start of the particular movement.88
SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A9. DESCRIPTION OF SOME VARIABLES9.1 GENERALAll variables can be monitored from the host command or from the programming terminal.This section describes only the most useful variables. For the variables related to speedsand angular positions, it is assumed that the resolver has only one pole pair (single speed).For each variable described a mnemonic code and its address are indicated.9.2 BASE VARIABLESURES :Address : 27 (hexa : 1B).Primary excitation voltage applied to the resolver. This value is auto-matically adjustedin such a way that the sum of the squares of both secondary voltage levels returnedby the resolver are constant, in accordance with the equation cos 2 a + sin 2 a = 1. Thevalue of URES is compared to the value of the parameter CURES; if the deviation istoo extreme, the ST1 digital motion controller software recognizes a fault in theresolver and disables the power stage.See also in sections 6.2.2 (bit 7 of status STATB) and 7.3.1 (parameter CURES).PHIC/PHIB : Addresses : 36, resp 37 (hexa : 24, 25).Actual angular position of the resolver. This variable is expressed with doubleprecision (2 words, being 31 bits + sign). 1 lsb = 2 -16 resolver turn = 2 16 RU, whichimplies that 1 lsb of PHIC = exactly 1 resolver turn.PHIB corresponds to the absolute position measurement within one turn, the values -32,768 ... 0 ... + 32,767 (hexa : 8000 ... 0 ... 7FFF) correspond to - 1/2 ... 0 ... + 1/2turn.PHIC corresponds to the incremental measurement of the number of turns. With thesoftwares supporting multi-resolver position measurement, the value of PHIC can beconsidered as absolute.PHIREC/PHIREB : Addresses : 49 resp. 50 (hexa : 31, 32).Angular reference position of the resolver, 1 lsb = 2 -16 resolver turn = 2 -16 RU,involving that 1 lsb of PHIREC = 1 resolver turn exactly.PMUSC/PMUSB Addresses : 72 & 73, respectively (hexa : 48 & 49).Angular position of master shaft, converted into slave units, hence same units asPHIREC/PHIREB.DPOS : Address : 53 (hexa : 35).Angular position lag. 1 lsb = 2 -16 resolver turn.VIRB : Address : 41 (hexa : 29).Actual angular speed of the resolver. 1 lsb = 0.288 rad/s = 2.75 rpm.89
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