ABB ACSM1 - Page 67

Drive control and features
67
Start: linear axis, absolute synchronisation
Used when the master and the follower are to be driven
equal distances.
60.02 POS AXIS MODE is set to (0) Linear. 68.07
SYNCHRON MODE is set (0) Absolute.
To catch the master position, the follower accelerates
up to its maximum allowed speed. Master position
changes which take place before and after the follower
is started are taken into account.
Stop: linear axis
60.02 POS AXIS MODE is set to (0) Linear.
The figure shows how the dynamic limiter works
together with the position profile generator when the
drives are stopped: Before the stop command of the
master, the speed of the follower is limited by the
dynamic speed limiter (70.04 POS SPEED LIM), which
results in a position error. When the master starts to
decelerate, the follower uses positioning deceleration,
and, eventually, positioning speed to overcome the
position error.
t
A
B
A = B
Speed
70.04 POS SPEED LIM
70.06 POS DECEL LIM
70.05 POS ACCEL LIM
Follower speed
Master speed
t
Position
Follower position
Master position
Follower start
Synchron
position
reference
t
A
B
Follower speed
Master speed
A = B
Speed
Master speed
STOP
65.05 POS SPEED 1 /
65.13 POS SPEED 2
65.07 PROF DEC 1 /
65.15 PROF DEC 2
70.04 POS SPEED LIM
t
A
B
Follower position
Position
Master
position
65.05 POS SPEED 1 /
65.13 POS SPEED 2
65.07 PROF DEC 1 /
65.15 PROF DEC 2
65.07 PROF DEC 1 /
65.15 PROF DEC 2