Ssi_Pulse Motor Type (26); The Environment Variable Numberaxis; The Environment Variable Sampletime; The Environment Variable Sztsk - Addi-Data APCI-8001 Commissioning Manual

CM / C M 25
OMMISSIONING ANUAL
Example:
nd
2 axis, positive manipulated value = output 4, negative manipulated value display is not required
set MT1 24
set SIGNOUTPOS1 8
set SIGNOUTNEG1 0
In this case, SIGNOUTNEG1 can also remain undefined.

3.12.1.21 SSI_PULSE motor type (26)

With this motor type, a position control is carried out in the same way as with default servo systems, but with
a step direction output. The Motor-Type {mt} variable in mcfg must be set to SERVO. The default frequency
range of the pulse output is +/-2 MHz. The frequency range can be limited using the variables {mcpmax} and
{mcpmin}. The unit of these variables is 200 kHz. If a setpoint value jump (OL Response) is output, the output
frequency is also indicated in the unit of 200 kHz.
The position controller must be set according to the same criteria as a speed-controlled system.
Note: An axis can only be configured for this motor type if in RWMOS, the resources SSI absolute encoder
and pulse output are available for the corresponding axis.
This motor type is only available from RWMOS V2.5.3.132.

3.12.2 The environment variable NumberAxis

This environment variable enables to set the axis number. The default value is 3. Normally, this value is set
for operation and is only to be modified with values which are supported by the hardware and software
configuration of the control.

3.12.3 The environment variable SampleTime

Through this environment variable the scan time (control cycle time and interpolation cycle time) of the
control is set in microseconds. The values are between 100 and 5000. The default value is 1280. This value
can only be modified with values which can be reached by the hardware and software configuration of the
control. Realistic values begin from approximately 300. Please note that by modifying the scan time, the filter
parameters must generally be adapted as well, especially the pre-control coefficients kfcv and kfca.
If this setting is required for the application, it should also be checked in the application program to avoid
faults when the system is reproduced or serviced. This setting is a device option, which is stored in the flash
memory of the PCI board. The sampling time can be checked with the DLL function rdSampleTime(). The
value of environment variables can be read with the DLL function getEnvStr ().

3.12.4 The environment variable SZTSK?

Herewith the program memory of the task environment can be modified in bytes according to the task. The ?
stands for the task number (0..3) and must be set. The default value is 100.000 bytes.
Example:
set SZTSK3 1000000