6 Synchronous control
BU 0510 EN
technische Änderungen vorbehalten
41
The following settings are required for communication between master and slave via
CANopen
bus.
Master device settings:
P502[01]
=
20
Setpoint frequency after frequency ramp
P502[02]
=
15
Actual position Inc. High Word
P502[03]
=
10
Actual position Inc. Low Word
P503
=
3
CANopen
P505
=
0
0.0 Hz
P514
=
5
250 kBaud (minimum 100 kBaud must be set)
P515[02]
=
P515Slave[01] Broadcast master address
Slave device settings:
P510[01]
=
10
Main setpoint of CANopen – Broadcast
P510[02]
=
10
Auxiliary setpoint of CANopen – Broadcast
P505
=
0
0.0 Hz
P514
=
5
250 kBaud (minimum 100 kBaud must be set)
P515[01]
=
P515Master[02] Broadcast slave address
P546 =
4
Frequency
addition
P547
=
24
Setpoint position Inc. High Word
P548
=
23
Setpoint position Inc. Low Word
P600
=
1, 2
Position control ON with maximum frequency or
On with setpoint frequency8
P610 =
2
Synchronisation
NOTE:
The actual position of the master must always be transmitted to and evaluated by the slave with the
setting "in increments" otherwise there will be an additional transmission time error.
6.3 Slave ramp time and maximum frequency settings
So that the slave can adjust, the ramp times must be somewhat smaller than for the master and the maximum
frequency somewhat larger.
Slave device settings:
P102
Slave
= 0,5 ... 0.95 * P102
Master
P103
Slave
= 0,5 ... 0.95 * P103
Master
P105
Slave
= 1,05 ... 1.5 * P105
Master
P410
Slave
= P104
Master
P411
Slave
= P105
Master
In the slave, the frequency addition must be set (instead of setpoint frequency) in the parameter P546 "Function
bus setpoint 1" to select the speed lead independently of P105 "Maximum frequency". Otherwise the problem
would be that the maximum frequency in the slave could only be set minimally higher than for the master so that
the lead would not be too greatly distorted. However, this means, for speeds close to the maximum frequency, that
the slave drive does not have the possibility of "catching up".
6.4 Speed control and position control settings
The speed control and position control are set in the same way as if synchronisation is not implemented. If it is
possible, the speed control should be set first in parameter P300 "Servo mode", then the position control in
parameter P600 "Position control" and then the synchronisation control should be started up. The sharper the
controllers are set, the better the dynamic results are. However, in practice the position control works best when the
I-component in the speed control is not too great. The speed control should therefore be set to a lower overshoot.
This results in a relatively high P-component (until noises occur at lower speeds) and a relatively small I-
component. The torque limit and the ramps selected must be set so that the drive can follow the ramp at any time.
8
Both variants are possible as the maximum positioning speed during synchronisation is always F
max
