W.E.ST. POS-124-U-PFN, Техническая документация инструкция, Страница: 31 / 62

Page 31 of 62 POS-124-U-PFN-2030 23.08.2016
5.5 Synchronous controller
SYNCMODE (Operation mode synchronous run)
Command Parameters Unit Group
SYNCMODE x x= MS|AV -
SYNC
With this command the behavior of Synchronization controllers be selected
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 synchro-
nous 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 to the master axis. The parameterization should be
adapted in this case that way that the master axis will be limited a bit in its maximum speed because other-
wise a lagging slave axis may not be able to compensate the synchronous error.