Isel IMD1, Руководство пользователя

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Positioning module UVE8112, IMD10 CanOpen
protocol
Synchronous control
Index Sub Name Type Attrib Map Default
value
Meaning
2043 Synchronous control RECORD Control of the gantry axis
.
2043 00 Number of entries Unsigned 8 CONST N 3 Number of entries.
2043 01 Synchronous mode Unsigned 8 RW N 0 0
Æ
No gantry axis
1
Æ
Slave axis
2
Æ
Master axis
2043 02 Slave minimal node
ID
Unsigned 8 RW N 127 Minimum CAN ID no. of
the slave axis.
2043 03 Slave maximal node
ID
Unsigned 8 RW N 127 Maximum CAN ID no. of
the slave axis.
2043 04 Slave error Unsigned 8 RW N 0 0
Æ
Fault-free slave
1
Æ
Faulty slave
2043 05 Master status word Unsigned 16 RW Y 0x0027 Master axis status word.
2043 06 Master: current
position
Signed 32 RW Y 0 Current position of the
master axis.
2043 07 Following error
window
Unsigned 32 RW N 10000 Position window for the
monitoring of the gantry
axis.
2043 08 Following error Signed 32 RO Y 0 Current deviation of
position between the
master and the slave axis.
2043 09 Help variable signed 32 RW N 0 Help variable for the
synchronisation process.
2043 10 Max. following error signed 32 RW N 0 Max. deviation of position
between master and
slave.
2043 11 Coupling factor unsigned 8 RW N 4 Coupling factor with
master axis.
2043 12 Homing Follow Error
Check (Dummy)
Unsigned 8 RW N 1 Homing Follow Error
Check (Dummy)
With the help of the synchronous control objects given above, the ISEL CNC control realises the operation
of the gantry axis. The “Synchronous Mode” object is set during the CNC operation by the control, if
applicable. Currently, up to 2 gantry axes are allowed per machine. The CAN node ID of the slave axes
are stored in the “Slave minimal node ID” and “Slave maximal node ID” for the monitoring of errors. The
“Slave Error” object is only used by one master axis. If the related slave axis is faulty, this object is set in
the master. In a slave axis, this object is of no importance. During the gantry, the slave axis receives the
status as well as the current position of the master axis in the objects “Master: status word” und “Master:
current position”. By means of these two objects, the slave axis recognises, if the master axis is faulty or
not and if the deviation of position between the master and the slave exceeds the limit value in the
“Following error window” object or not. The current value of the deviation of position between the master
and slave can be seen in the “Following error” object. The “Help variable” sub-index is intended for
internal use only. The “Max. following error” sub-index of the slave axis is an auxiliary means for the
commissioning. The user can launch the DCSetup in the declaration mode and this variable indicates the
maximum deviation of position between the master and the slave. The seven objects mentioned last are
used only by one slave axis. In the master operation, they are not taken into account.
With the exception of the two objects “Following error window” and “Coupling factor”, all objects of the
synchronous control are commissioned during operation by the ISEL CNC control. In the “Can
Interpolation” dialogue box of the slave axis, the position error of a gantry axis can be defined as a value
for the “Following error window” object and the coupling factor of the slave as the value of the “Coupling
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