ABB ACSM1 Firmware Manual page 63

Master reference correction
The purpose of the master reference correction is to correct the difference between
the master and reference positions.
Note: In master reference correction the follower must always be in synchron control
mode.
Example:
Parameter
60.05 POS UNIT
60.02 POS AXIS MODE
68.02 SYNC GEAR MUL
62.14 CYCLIC CORR
MODE
62.15 TRIG PROBE1
62.16 PROBE1 POS
MASTER
(motor)
Proximity
Encoder DI1
switch
60°
t Position ref. 90°
1
t
2
t : Rising edge of encoder digital input DI1 signal (proximity switch signal) is
1
detected when the master (motor) position should be 60°. The used position
reference is 90° (stored to signal
The master reference correction function calculates the position error,
POS
reference position:
4.05 CYCLIC POS ERR
90° = -30°
The position error is corrected using positioning parameter and dynamic limiter
settings.
Setting
(1) DEGREE
(1) ROLLOVER
Same as for
SYNC GEAR DIV
(2) COR MAS REF
(1) ENC1 DI1 _-
60°
FOLLOWER
(load)
4.03 PROBE1 POS MEAS
4.05 CYCLIC POS ERR
°- 30°
X
Real master position
ERR, which is the difference between the master (motor) position and the
=
Information
All position values are in degrees
Positioning is between 0 and 1 revolutions, i.e. after
360°, the position calculation starts from 0° again.
68.03 Synchron gear ratio is 1.
Master (motor) reference correction
Rising edge of encoder 1 digital input DI1.
Source of the master (motor) position reference
latching command (proximity switch signal source)
Reference position for the master (motor) reference
position probe
Encoder DI1
4.18 SYNC ERROR
1.12 POS ACT
4.03 PROBE1 POS
62.16 PROBE1 POS
t
1
MEAS).
- 4.03 PROBE1 POS MEAS
Drive control and features
63
t
2
90
-30
360 = 0
330
0
°
x
° °
x - 30
°
90
°
60
4.05 CYCLIC
= 60° -