Drive control and features
76
t
1
: Rising edge of encoder DI2 signal (proximity switch signal) is detected when the
master position is 0°. The follower position is -130° (stored to signal
).
t
2
: Rising edge of encoder DI1 signal (proximity switch signal) is detected when the
follower position is 0°. The actual position of the encoder is -30° (stored to signal
). Distance between the follower position and the actual
position is 0° - (-30°) = 30°.
According to parameter
and
settings the
follower should be 120° behind the master.
The following phase shift between the master and follower is calculated and stored
as reference error
(
) = [-120° - (-130°)] - [0° - (-30°)] = -20°
t
3
: Error has been corrected and the follower is 120° behind the master. Cyclic
function is ready for a new correction if necessary.
Note 1:
Only after the active correction is finished is the next position latching
enabled.
Note 2:
The cyclic corrections are always performed along the shortest path. This
must be taken into account in all rollover applications.
Note 3:
In rollover applications, the correction range is limited to ±180°.
t
1
t
2
t
1
t
2
-130
-30
-20
0
x
°
-130
°
30
360 = 0
x
°
- 120
°
0
°
-30
°
t
3
t
3
340
-100
°
x
°
x
°
- 120
°
DI1
DI2
DI2
DI1
DI2
DI1
0°
0°
-100°
MASTER
CYC POS ACT ERR
Encoder DI1
Encoder DI2
MASTER
FOLLOWER
FOLLOWER
Summary of Contents for ACSM1 Series
Page 1: ...ABB motion control drives Firmware manual ACSM1 motion control program ...
Page 4: ......
Page 34: ...Drive programming using PC tools 34 ...
Page 86: ...Drive control and features 86 ...
Page 265: ...Parameters and firmware blocks 265 1 100 us 100 µs 2 1 ms 1 ms 3 50 ms 50 ms ...
Page 302: ...Parameter data 302 ...
Page 422: ...Application program template 422 ...
Page 430: ...Appendix A Fieldbus control 430 ...
Page 500: ...Appendix D Application examples 500 ...
Page 508: ...Appendix E Control chain and drive logic diagrams 508 ...
Page 510: ...3AFE68848270 REV H EN 2015 06 26 Contact us www abb com drives www abb com drivespartners ...