ABB ACSM1 Manual page 67

Start: linear axis, absolute synchronisation
Used when the master and the follower are to be driven
equal distances.
60.02 POS AXIS MODE
SYNCHRON MODE is set
To catch the master position, the follower accelerates
up to its maximum allowed speed. Master position
changes which take place before and after the follower
is started are taken into account.
Stop: linear axis
60.02 POS AXIS MODE
The figure shows how the dynamic limiter works
together with the position profile generator when the
drives are stopped: Before the stop command of the
master, the speed of the follower is limited by the
dynamic speed limiter
results in a position error. When the master starts to
decelerate, the follower uses positioning deceleration,
and, eventually, positioning speed to overcome the
position error.
is set to (0) Linear. 68.07
(0) Absolute.
is set to (0) Linear.
(70.04 POS SPEED LIM), which
Speed
70.04 POS SPEED LIM
Master speed
B
70.05 POS ACCEL LIM
A
Follower speed
Position
Master position
Follower start
Speed
Master speed
STOP
Follower speed
A
70.04 POS SPEED LIM
Master speed
65.07 PROF DEC 1
Position
65.07 PROF DEC 1
65.15 PROF DEC 2
Master
position
A
65.05 POS SPEED 1
65.13 POS SPEED 2
Follower position
A = B
70.06 POS DECEL LIM
t
Synchron
position
reference
Follower position
t
A = B
65.05 POS SPEED 1 /
65.13 POS SPEED 2
B
t
/
65.15 PROF DEC 2
/
65.07 PROF DEC 1
65.15 PROF DEC 2
/
B
t
Drive control and features
67
/