Positioning; Correction Of The Position Of The Slave Axis In Electrical Line Shaft Mode (Phase Trim) - gefran ADV200 User Manual

5.4 Positioning

At the end of the zero search, positioning can be performed independently of the slave axis. This is always
done in incremental mode, i.e. the target position is always referred to the actual position of the slave axis;
this may be necessary if the slave axis has to reach an exact position before synchronous capturing of the
master. The main parameters for configuring the positioner are located in the POSITION menu.
The unit of measure for positioning is defined in user units (u.u.) via the IPA 11318 User unit per rev
parameter, which indicates the number of user units associated with one revolution of the slave axis position
encoder (Encoder 1).
The target position is generally specified via the IPA 11300 Target Pos parameter.
The source for the target position can be assigned directly to a datum coming from the fieldbus interface,
using the IPA 11298 Target Source parameter.
Positioning profile data for speed (maximum), and the acceleration and deceleration ramps can be set,
respectively, via the IPA 11302 Move Speed, IPA 11304 Move Accel and IPA 11306 IPA Move Decel
parameters.
Positioning speed is specified in user units per second (u.u./s), while acceleration and deceleration are
2
expressed in user units per second squared (u.u./s ).
Positioning is launched by activating the digital input signal assigned via the IPA 11500 Move Trigger
Source parameter in the DIGITAL INPUTS menu; the end of the procedure is indicated by the setting (0->1)
of the In Position digital output signal, available as a flag (IPA 12060) or assignable to a digital output in the
DIGITAL OUTPUTS menu.
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5.4.1

Correction of the position of the slave axis in electrical line shaft mode (phase trim)

The Move Trigger positioning command and the target position specified can also be used during
synchronous capture of the master by the slave, or when the ELS Engage command is active: in this case
the position of the slave axis can be adjusted with respect to the master axis (phase trim).
Activation of the positioning command with a target position other than zero with the slave capturing the
master triggers a transient during which the phase ratio between the master and slave axes in electrical line
shaft mode is temporarily lost; to reach the new position reference, the speed of the slave axis, required in
order to maintain the synchronous phase ratio, is adjusted by the value calculated by the position profile
generator. As a result, during said transient, the slave axis moves at a hyper-synchronous or hypo-
synchronous speed, depending on the sign of the specified target position.
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User Guide Electrical Line Shaft for ADV200 Page 17 of 32