Duplomatic EWM-2SS-DAD/22E-PN, Руководство для стартапов

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EWM-2SS-DAD/22E-PN 89475/119 ETM
Duplomatic MS ▪ EWM-2SS-DAD/22E-PN Start-up Manual – 89475-PN/119 ETM --- Mar 2019
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Synchronous controller
SYNCMODE (operation mode synchronous run)
Command Parameters Unit Group
SYNCMODE x x= MS|AV -
SYNC
This command selects the behaviour of the synchronization controller.
MS : Master/Slave Control. Axis 2 is always the slave.
AV : Average value controller
-
w
Ramp-
function
x1
-
Position
controller
w
x1
x2
x2
e1
u1
Fieldbus
e2
u2
Synchronous
controller
-
/ 2
-
es
Position
controller
Picture 1: Control structure of average value calculating
Both actual positions are checked. The calculated average value serves as command value for the
synchronous controller, which has an effect on both axes while trying to synchronize them.
The lagging one will be accelerated and the advanced one decelerated.
-
w
Ramp-
function
x1
-
Position
controller
w
x1
x2
x2
e1
u1
Fieldbus
e2
u2
-
Position
controller
es
Synchronous
controller
Picture 2: Control structure of master / slave principle
The actual position of the master axis serves as command position for the synchronous controller.
It exerts influence on the slave axis and tries to synchronize it with the master axis.
The parameterization should be adapted so that the master axis is speed-limited otherwise a
lagging slave axis may not be able to compensate the synchronous error.