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7-88
Operating Modes
st
1
Step of Synchronization
nd
2
Step of Synchronization
position in parameter P-0-0034, Position command additional
actual value
• generation of status message "synchronization completed" (P-0-0152;
bit 0)
• generation
of
status
synchronization" (P-0-0089, Status word for synchronous operating
modes; bit 8)
Synchronization Procedure for Synchronous Position Control
Modes
The dynamic synchronization described below is a part of the
synchronization modes
synchronization and cam shaft mode). The synchronization process is a
drive-controlled motion with the objective of absolute or relative
synchronization. The drive is absolutely synchronous when the actual
position value corresponds to the sum of synchronous position command
value (derived from the master axis position) and additive position
command value (S-0-0048).
Note:
All settings relevant for synchronization have to be made in
parameter P-0-0155, Synchronization mode.
For
synchronization
modes
synchronization is carried out in two steps:
1. Velocity adjustment:
The drive either accelerates or decelerates from the current actual
velocity at the time of activation to the synchronous velocity.
The synchronous velocity is generated by differentiating the synchronous
position command value. The synchronous position command value x
is determined from the master axis position (P-0-0052, Actual position
value of measuring encoder or P-0-0053, Master axis position)
according to the operating mode.
Velocity adjustment already takes place in position control. When
accelerating or decelerating, the drive takes the value in parameter
P-0-0142, Synchronization acceleration into account.
2. Position adjustment:
After velocity adjustment there is a difference between the active position
command value and the sum of the synchronous position command value
X
and the additive position command value (S-0-0048).
Synch
The difference is calculated according to the following equation:
difference
(distance)
x
:
synchronous position command value
sync
S-0-0048:
position command value additional
P-0-0434:
position command value of controller
Fig. 7-67:
Difference with absolute synchronization (travel distance)
In the second step of synchronization the difference generated during
velocity adjustment is compensated by a travel motion taking P-0-0142,
Synchronization acceleration and P-0-0143, Synchronization velocity
into account. This position adjustment is added to the synchronous
movement.
MPH-02, MPB-02, MPD-02
message
"synchronization
with
outer
position
control
with
outer
position
=
+
−
−
−
x
S (
0
0048)
sync
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
mode
in
loop
(phase
control
loop,
sync
−
P (
0 -
0434
)
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