Programmable SyncPos motion controller
MG.10.J8.02 – VLT is a registered Danfoss trade mark
198
64
O_AXMOVE
Set the output number which must be controlled
by the AXMOVE function. The output is always
activated as soon as a motion command is active,
regardless in which mode (position, velocity or
synchronization command).
This function is not suitable for monitoring the mo-
tor, since the motor could be standing still although
the control is in motion.
It is possible to react to a positive or negative
edge.
A positive number means that the output is high
(24 V) when the function is active. A negative num-
ber means that the output is low (0 V) when the
function is active.
Content
Output for motion command active
Parameter Group
Axis parameter Inputs/Outputs AXI
CAM-Editor: index card Inp/Outp
Value range
–8 … 8
★
0
65
SYNCVFTIME (709)
This parameter configures the velocity filter which
is used for the velocity synchronization. Since the
velocity synchronization only uses the currently
active master velocity and the values can decrease
to very small values (e.g. 2 qc/ms) a small fluctua-
tion in velocity can have dramatic effects. In order
to even this out the following filter function is
applied:
Cmdvel =
Old_ (Actvel – Old_Cmdvel) * ms/
τ
_filt
With the following:
Cmdvel
= set velocity
Old_Cmdvel
= last set velocity
Actvel
= actual velocity of the master
ms
= sampling time (fixed 1ms)
τ
_filt
= filter time constants
Generally the value for t_filt is taken from a table,
depending on the Encoder counts per revolution of
the master. This value can be overwritten by the
SYNCVFTIME parameter and is always used when
SYNCVFTIME is not equal zero.
If the speed filter is defined with a negative num-
ber, the corresponding value also applies for
angle/position synchronization SYNCP and for
marker correction SYNCM.
In this case filtering takes place as described
above, but the errors made are summed up. This
error sum is taken into the calculation with
1000/
(τ
*10
)
in each case, so that no position devia-
tion can occur over prolonged periods.
The value returned by SYNCERR always contains
the error made so that this is also used for the eva-
luation of the synchronicity. In the case of marker
correction the correction value is balanced more
slowly and with the same factor as the error sums.
If, for example, a filter factor of –100000 (100 ms) is
used, a marker correction is balanced within 1 sec.
(100 ms * 10). This allows a “taming” of the syn-
chronization without restricting the acceleration.
Content
velocity filter
Syntax
SET SYNCVFTIME value
value = filter time constants
Parameter Group
Axis parameter Synchronization AXS
CAM-Editor: index card Synchron.
Parameter Reference
