Software for the synchronization of axes - Kollmorgen

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SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.AVIREFB :Address : 47 (hexa : 2F).Set angular speed of the resolver. 1 lsb = 0.288 rad/s = 2.75 rpm.VMUSB :Address : 75 (hexa : 4B).Speed of master shaft converted into slave units, hence same units as VIREFB.DVIT : Address : 52 (hexa : 34).Angular speed lag. 1 lsb = 0.018 rad/s = 0.17 rpm.KRATE :Address : 195 (hexa : C3).General coefficient applied to speeds; the value 4096 (hexa : 1000) corresponds to a100-percent speed.PALINS :Address : 203 (hexa : CB).Another coefficient applied to speeds, depending on the instruction. A value of 32,767(hexa : 7FFF) corresponds to a 100-percent speed.FLSUIV :Address : 192 (hexa : C0).Variable indicating the state of synchronicity : 0 = no synchronicity; 1 = synchronicity.COCOU : Address : 55 (hexa : 37).Required motor torque delivered from the position and speed controller after thelimitation by COUMA or by COULIM. 1 lsb = 1/128 Nm.MOTB/MOTA : Addresses : 120, resp. 121 (hexa : 78, 79).Copy in form of two words of bytes of data received in combination with an instruction.9.3 PSEUDO-PARAMETERSFor technical reasons, a few variables are memorized as the current values of theparameters. These variables are read as if they were parameters, from the programmingterminal or by serial communication from a host computer.TEMP : Address : 249 (hexa : F9)Temperature of the power stage. 1 lsb = 1/16th of a degree C.90
SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A10. EXECUTABLE INSTRUCTIONS10.1 GENERALAn essential quality of the ST1 digital motion controller is that it has an informatics kernel. Aninteractive dialog with the host processor is possible whereby the host processor transmitsthe instructions (commands) to the ST1 digital motion controller and receives information inreturn. Moreover, some software releases offer sequencer functions, where preloadedinstructions may be called for execution through binary inputs.The following information is given for each instruction described in this chapter :- The instruction code.- The number of data bytes and their meaning.- The meaning of the response byte.- The validation test (if any).The instructions described in this chapter are not all available in each software version.Please refer to the listing provided with each software version for detailed information.For instructions which are available in the boot program, an indication is given.Instructions specific to the sequencer function are described in Manual ref. 024.8020 - "LIOInterface Board".10.2 INSTRUCTIONS MODIFYING THE PARAMETERS10.2.1 Instruction SETPAR (or SETMEM)Instruction code : 42 (hexa : 2A).(Available in the boot program)Data bytes :Answer byte :1. Address of the parameter to be modified.2. New value (msb).3. New value (lsb).Status STATA.Tests : (on some versions only) :Address belongs to the parameter field.This instruction allows a modification of the current value of any parameter. It can alsobe used to load the parameters during initial installation. The new parameter value isnot checked for correctness.91
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Software for the synchronization of axes - Kollmorgen

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