4 Function description
BU 0210 en-3117 51
Pos: 18 4 /Anlei tung en/El ektr onik/P OSICON /4. Funkti onsbes chr eibung/ Gleic hlauf /Ref erenz punktf ahrt der Slav e - Achs e in einer Gl ei chl aufa nw endu ng @ 14\mod_1478767349030_388.docx @ 2302905 @ 3 @ 1
4.9.6 Slave reference point run - Axis in a synchronous application
Position detection with absolute encoders typically does not require a reference point run. Therefore,
absolute position detection should always be given preference for systems in which no deviation, i.e.
no position deviation between the master and the slave may occur, e.g. for portal lifting gear.
If absolute encoders are used for position detection, the axes (master and slave) should be
referenced occasionally ( Section 4.2.1.1 "Approach reference point").
If the master and slave do not deviate from each other i.e. if all axes run synchronously, the entire
system is referenced. This means that the slave must be actively synchronised with the master
(synchronisation is enabled). The reference point run should therefore be performed via an external
control unit according to the following sequence (all steps with a minimum time difference of 20ms):
1. Move entire system to reference point
2. Remove enabling for the master
3. Remove enabling for the slave
4. Perform a "Reset Position"on the master (P601
Master
= 0, P602
Slave
switches over)
5. Perform a "Reset Position"on the slave(P602
Slave
= 0, P601
Slave
= 0)
If the master and slave deviate from each other, i.e. if the drive units do not run synchronously, the
slave must be referenced independently from the master. Care should be taken that in synchronous
mode the slave receives its setpoint speed as a specification from the master. If the master is not
running, it sends the value "0" as the setpoint speed for the slave. The slave can therefore not carry
out a reference point run. In order to provide the slave with a corresponding speed setpoint for the
reference point run, further settings must be made on the slave. An additional parameter set (e.g.
parameter set 2) must be used for this. It should be noted that first all settings in this parameter set,
e.g. the motor data, must be adopted from the 1st parameter set. After this, in the 2nd parameter set,
the necessary parameters for the reference run by the slave must be adjusted.
1. Specify the speed for the reference point run (F
ref
)
F
ref
= F
min
(P104) = F
max
(P105) ≠ 0 (e.g. enter the value 5 (= 5 Hz) in each)
2. Disable frequency addition (P546 Bus Setpoint Function")
To start the reverence point run by the slave, the relevant parameter set (parameter set 2 in this
example) must be enabled.
The slave must always be referenced after the master.
For synchronous systems, where the master and the slave cannot be operated separately, an
individual strategy must be developed in case of deviation.
For incremental position detection, the actual position value is not suitable to determine deviation.
Pos: 185 /A nleit ung en/El e ktr onik /POS ICON /4. F unk tio nsbes chr eib ung/ Glei c hlauf /Of fs etauf sch alt ung im G lei chl aufbet rieb @ 14 \mod_1478776946628_388.docx @ 2302941 @ 3 @ 1
4.9.7 Offset switching in synchronous operation
In addition to the position setpoint, which can be transmitted from the master to the slave device via
the CAN bus, a relative position offset can be added to the slave via the "increment array". With each
0 1 flank at the relevant input, the position setpoint value can be offset by the value which is set in
parameter P613 "Position" [-01]...[-06].
The offset cannot be transferred directly via a field bus with a "process data word". For this,
appropriately parameterised digital inputs of Bus IO In Bits must be used.
Pos: 18 6 /Allg emein/ Allg emeing ültig e Mod ule/---------Sei tenumbr uch ko mpakt --------- @ 13\mod_1476369695906_0.docx @ 2265495 @ @ 1
To Next Page
Loading...
Need help?
General
