Delta Tau GEO BRICK LV Benutzerhandbuch
Turbo PMAC User Manual
346
Synchronizing Turbo PMAC to External Events
Motor
Commanded
Position
Commanded
Position
follows
Master
Position
Position
∆ CPn
Ix07
MP
Ix08
=
∆
n
∆
CPn
MP
Ix08
∆
n
Master
Follower
Mechanical Analogy
∆ CPn Ix07 MP
Ix08
=
∆
n
PMAC Position Following
Ix07
With 1/T:
∆ CPn
Ix07
=
∆
n
32
32
MP
Ix08
Changing Ratios on the Fly
To vary the following ratio in the middle of an application, change Ixx07 alone. Ixx08 is involved in the
scaling of servo feedback calculations, and so should not be changed in the middle of an application.
scaling of servo feedback calculations, and so should not be changed in the middle of an application.
There can be tradeoffs between the resolution of on-the-fly changes and the servo performance of the
system. The higher the Ixx08 scale factor, the finer the resolution of the changes can be. However, the
higher Ixx08 is, the lower proportional gain Ixx30 can be before internal saturation occurs, and the lower
the maximum velocity can be before there is internal saturation of those registers. In general, Ixx08
should be kept below 1000.
system. The higher the Ixx08 scale factor, the finer the resolution of the changes can be. However, the
higher Ixx08 is, the lower proportional gain Ixx30 can be before internal saturation occurs, and the lower
the maximum velocity can be before there is internal saturation of those registers. In general, Ixx08
should be kept below 1000.
Superimposing Following on Programmed Moves
In addition, this following function can be superimposed on calculated trajectories. This permits, for
instance, shapes to be cut out of a moving web, where the shape program can be written without regard to
the web movement, and a master signal from the web compensates for the movement.
instance, shapes to be cut out of a moving web, where the shape program can be written without regard to
the web movement, and a master signal from the web compensates for the movement.
Bit 1 of Ixx06 determines whether the following occurs in offset mode, where the reported position of the
following motor does not reflect the change due to following, or normal mode, in which it does. Users
superimposing following and calculated moves will usually want to use offset mode, in which bit 1 is 1
(so Ixx06 = 3 for activated following in offset mode). In normal mode, calculated trajectories will
remove the offset introduced by following each programmed move or move segment.
following motor does not reflect the change due to following, or normal mode, in which it does. Users
superimposing following and calculated moves will usually want to use offset mode, in which bit 1 is 1
(so Ixx06 = 3 for activated following in offset mode). In normal mode, calculated trajectories will
remove the offset introduced by following each programmed move or move segment.
In normal mode, the motor’s commanded position for a programmed move is calculated as the
programmed position minus the master position. The reported position (response to a P or <CTRL-P>
command) is simply the actual position. In offset mode, the motor’s commanded position for a
programmed mode is simply the programmed position. The reported position is the actual position minus
the master position.
programmed position minus the master position. The reported position (response to a P or <CTRL-P>
command) is simply the actual position. In offset mode, the motor’s commanded position for a
programmed mode is simply the programmed position. The reported position is the actual position minus
the master position.