Description of the Software Modules and Parameters
Parameter manual b maXX BM3000
Document no.: 5.12001.07
675
of 820
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This procedure can be switched on and off using bit 9 of parameter mode Z122.2–.
Synchronization to the polynomial curve
Via the parameter mode (Z122.2–) a synchronization of the curve can be selected with
the current position of the master axis. The controller detects the current position set val-
ue from the polynomial curve by the start curve segment, master axis positioning and
drive positioning. If the momentary angle actual value of the drive doesn't correspond to
the set value from the polynomial curve then the controller is able to independently posi
-
tion to the required angular position from the polynomial curve. This positioning operation
limits the maximum speed (
Z122.12–), the maximum acceleration (Z122.13– and
Z122.14–) and the maximum jerk (Z122.15–).
The servo controller can be positioned either to the required angle or to the absolute po-
sition including the revolutions which result from the polynomial curve. When positioning
to the total positioning the servo controller catches up on all revolutions that are required
to reach the absolute set position in the curve. The direction of rotation of both positioning
modes can be specified.
If the rotational information for the master axis is ignored then the servo controller finds
its valid master position always within one revolution from the starting point of the starting
polynomial. The synchronization movement doesn't require parts of the polynomial curve,
it's a positioning operation using the settable profile data via the parameters
Z122.12– to
Z122.15–.
Activate / deactivate synchronization
If synchronization was selected (Z122.2– bit 0 = 1) the drive checks after the enable of
operation mode coupled operation if the current position of the drive agrees with the set
position from the curve. If this is not the case the drive generates a compensating move
-
ment with jerk limitation from the current position up to the set position from the curve.
The curve movement thereby is overlaid by the synchronization movement.
If synchronization is off (Z122.2– bit 0 = 0) the synchronization movement isn't per-
formed. In this case movement is started from the current position of the drive.
Synchronization modes
m Master axis stops during synchronization
By the setting of bit 1 in Z122.2– standstill monitoring is activated. This monitoring
checks if the master axis changes its position during synchronization to the polyno-
mial curve. This is the case if the master axis speed is above the speed threshold
which is determined in Z122.16– "Standstill limit master axis". During an active
monitoring the error 2744 “Master axis moves during synchronization“ is activated.
The user can freely select the error reaction.
NOTE!
If synchronization is switched off velocity and acceleration jumps can occur!
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