Danfoss MCO 305 Design Manual page 159

MCO 305 Design Guide
__ Software Reference __
SYNCM
Summary Angle/position synchronization with the master with marker correction
Syntax SYNCM
Description The SYNCM command functions just like the SYNCP command by making an
angle/position synchronization with the master, but also makes a marker
correction. Thus, during the starting of synchronization the program is synchro-
nized to the next marker calculated. In this manner it is possible to compensate for
differing running behaviors, for example slippage.
Once synchronization has been completed, deviation is determined at every
marker (or every n-th marker if the number of markers is not identical for the
master and slave). This is input into the control as the new offset and the program
immediately attempts to compensate for this. However, in doing so the values set
for velocity VEL, and acceleration ACC or DEC are not exceeded.
NB!:
In addition to the parameters used by SYNCP, par. 33-25 SYNCREADY, and par. 33-
24 SYNCFAULT are also of significance.
NB!:
Since the following parameters could lead to overdefinition, it is important to
ensure that these values are logical, match one another and are consistent with
the information on the gear factors.
par. 33-15, 33-16 Marker Number for Master and for Slave
par. 33-17, 33-18 Master Marker and Slave Marker Distance
par. 33-19, 33-20 Master and Slave Marker Type
NB!:
SYNCM should only be called up once since the synchronizing continues until the
next motion or stop command. All additional SYNCM commands cause the
synchronization to start over again from the beginning and this is not normally
intended, as you reset the actual SYNCERR.
When defined in par. 33-23 Start Behavior for Sync. , the system waits for the first
evaluation of the marker pulses on starting SYNCM and only then the offset par.
33-12 Position Offset for Synchronization is applied.
Marker Signal The marker can be the zero pulse from the encoder or an external 24 volt signal
(I5 = master; I6 = slave).
Command Group SYN
Syntax Example SYNCM /* synchronization of the position with marker correction */
Example
Even when both belts are running synchronously the lids may not be aligned with
the boxes at the right time. With SYNCM the difference between master and slave
is detected by means of the external markers and the possible position deviation is
corrected.
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