Software for the synchronization of axes - Kollmorgen

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SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A10.4.4 Instruction RESSTS(Available in the boot program)Instruction code : 47 (hexa : 2F).Data bytes :Answer byte :Tests :None.Status STATA.None.This instruction is used for zeroing the memorized bits of status STATC and STATD aswell as bit 6 of STATA.10.5 INSTRUCTIONS CONTROLLING THE POWER STAGE10.5.1 Instruction PWROFFInstruction code : 2.Data bytes :Answer byte :Tests :None.Status STATA.None.This instruction causes the immediate disabling of the power stage. All current to themotor is zeroed thus the motor can not be stopped by the ST1 digital motion controlleronce this command is given.Disabling the system with the PWROFF command does not change the state of bit 7of STATA which signals that a fault has occurred. Only bit 0 of STATD is set to 1. If thevalue of status mask CMASKS is set accordingly, bit 6 of STATA can signal thischange.10.5.2 Instruction PWRRESInstruction code : 33 (hexa : 21).Data bytes :Answer byte :Tests :1. Security code = 31 (hexa : 1F).2. Security code = 31 (hexa : 1F).3. Security code = 31 (hexa : 1F).Status STATA.Security code 2,039,583 (hexa : 1F,1F1F).This instruction allows reinitializing the four status bytes (idem RESSTS) and thepower-stage fault circuits, without unblocking the power stage. The security code is toprevent accidental resetting during an undetected transmission error.98
SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A10.5.3 Instructions PWRONS and PWRONIInstruction code : 35, resp. 36 (hexa : 23, 24).Data bytes :Answer byte :Tests :1. Security code = 31 (hexa : 1F).2. Security code = 31 (hexa : 1F).3. Security code = 31 (hexa : 1F).Status STATA.Security code 2,039,583 (hexa : 1F,1F1F)correctly received.Both instructions first call the instruction PWRRES as a subprogram. As long as nosystem faults are present, the power stage is enabled. As the position actual value ischosen as set value, the ST1's controller holds the motor at start-up position. Asecurity code is used to prevent any undesired enabling due to a not detectedtransmission error.Unlike the PWRONS instruction, the PWRONI instruction causes in addition areinitialization to zero of the incremental part PHIC of the position measurement. Whena single resolver is used, the position measurement PHIC/PHIB is then set between -1/2 and + 1/2 turn of the motor. See the description of this variable in section 9.2 forfurther explanations.10.5.4 Instruction PWRONRInstruction code : 34 (hexa : 22).Data bytes :Answer byte :Tests :1. Safety code = 31 (hexa : 1F).2. Safety code = 31 (hexa : 1F).3. Safety code = 31 (hexa : 1F).Status STATA.Safety code 2,039,583 (hexa : 1F,1F1F)correctly received.This instruction is similar to PWRONS. However, the position set value does notchange. The motor will therefore not stay at the start-up position, but will start back tothe old position set value.The movement that occurs is not controlled from the ramp generator but from theposition and velocity controller. Therefore this move is influenced solely by parametersKPOS, KVIT, KTEGR, and FEXT.99
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