288 Rockwell Automation Publication 1756-RM006K-EN-P - November 2018
the multipliers of both instructions being a ratio of 1/4, motor B needs to rotate
once for every four revolutions of Motor A in order to maintain an accumulated
value of zero in the UPDN accumulator. Any value other than zero on the output
of the UPDN instruction is viewed as Position_error and can be regulated and
driven back out to motor B in order to maintain a phase-lock between the two
motors.
Function Block
Structured Text
PMUL_02.In := Position_feedback;
PMUL_02.Initalize := Initialize_Position;
PMUL_02.WordSize := 12;
PMUL_02.Multiplier := 25000;
PMUL(PMUL_02);
PMUL_03.In := Follower_Position;
PMUL_03.Initalize := Initialize_Position;
PMUL_03.WordSize := 12;
PMUL_03.Multiplier := 100000;
PMUL(PMUL_03);
UPDN_02.Initialize := Initialize_Position;
UPDN_02.InPlus := PMUL_02.Out;
UPDN_02.InMinus := PMUL_03.Out;
UPDN(UPDN_02);
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