Software for the synchronization of axes - Kollmorgen

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