Control And Status; Master - Danfoss iC7 Motion Series Application Manual

Application Guide | iC7 Series Motion
P 5.16.2.1 Master Source Selection
Disabled
Feedback Device 1
Feedback Device 2
Figure 16: Synchronizing references

Control and Status

2.12.3.4
The Start Synchronizing signal is level-triggered, and synchronization is active while the signal is true. When Start Synchronizing is set to
false while the drive is running, the drive ramps to standstill and maintain the position.
When starting synchronization, the follower must sometimes compensate for initial position differences between the master and
follower, especially if the master is already running. In this case, the correction is done using the active ramps and the speed set in
parameter 5.15.3.4 Superimposed Speed Difference, which is added to the actual master speed. This means that the maximum speed for
correcting a position deviation is given by the equation:
Actual master speed x Gear ratio + Superimposed Speed Difference
The offset between master and follower can be corrected while synchronizing by using the Superimposed Movement function. For more
information, see 2.3.6 Superimposed Movement.
The In Sync signal is true when the position deviation between master and follower is within the tolerance specified with parameter
5.15.2.2 Synchronization Window for more than the time specified with parameter 5.15.2.3 Synchronization Window Delay.
The actual synchronizing status is shown in parameter 5.15.1.1 Synchronizing Status. The possible synchronizing states are:
Idle
l
Active
l
Error
l
Aborted
l
In Sync
l

Master

2.12.3.5
Source of the master reference signal is selected with parameter 5.16.2.1 Master Source Selection. The master source can be an encoder
or resolver connected as device 1 or 2 to the Encoder/Resolver Option OC7M0. The master position can be set to a predefined position
defined with parameter 5.16.2.3 Master Home Position and activated by the Master Home signal. The Master Home signal can be
assigned to a digital input or fieldbus bit with parameter 5.16.2.2 Master Home Input.
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Marker handling
P 5.15.4.1 Master Marker Source
P 5.15.4.2 Follower Marker Source
P 5.15.4.3 Marker Distance
P 5.15.4.4 Marker Window
Master position
Master Position
handling
P 5.16.1.1
P 5.15.3.2 Gear Ratio
Numerator
P 5.15.3.3 Gear Ratio
Denominator
P 5.16.2.3 Master Home
Position
Superimposed
profile generator
P 5.19.3.4 Superimposed
Speed Difference
P 5.19.3.5 Superimposed
distance
Gear generator
P 5.15.3.1 Sync
Mode & Start Behavior
+
AB318753549016en-000301 / 136R0284
Demanded position
P 5.13.1.4
+
Demanded Speed
+
Demanded Acceleration