ABB ACSM1 Firmware Manual page 65

MASTER FOLLOWER
DI2
0°
t
1
-130°
DI2
t
2
DI2
°
x
t
3
°
x - 120
t : Rising edge of encoder DI2 signal (proximity switch signal) is detected when the
1
master position is 0°. The follower position is -130° (stored to signal
POS MEAS).
t : Rising edge of encoder DI1 signal (proximity switch signal) is detected when the
2
follower position is 0°. The actual position of the encoder is -30° (stored to signal
4.03 PROBE1 POS
position is 0° - (-30°) = 30°.
According to parameter
follower should be 120° behind the master.
The following phase shift between the master and follower is calculated and stored
as reference error
(62.18 PROBE2 POS
PROBE1 POS
This error is added to
positioning parameters.
t : Error has been corrected and the follower is 120° behind the master. Cyclic
3
function is ready for a new correction if necessary.
Note 1: Only after the active correction is finished is the next position latching
enabled.
Note 2: The cyclic corrections are always performed along the shortest path. This
must be taken into account in all rollover applications.
Note 3: In rollover applications, the correction range is limited to ±180°.
DI1
4.04 PROBE2 POS MEAS
4.03 PROBE1 POS MEAS
4.05 CYCLIC POS ERR
DI1 CYC POS ACT ERR
0°
4.18 SYNC ERROR
DI1
°
Real actual position
Master reference position
1.12 POS ACT
MEAS). Distance between the follower position and the actual
62.16 PROBE1 POS
4.05 CYCLIC POS
- 4.04 PROBE2 POS
MEAS) = [-120° - (-130°)] - [0° - (-30°)] = -20°
4.18 SYNC
t
1
Encoder DI2
Encoder DI1
and 62.18 PROBE2 POS
ERR.
MEAS) -
ERROR. The synchron error is corrected using
t
2
4.04 PROBE2
settings the
(62.16 PROBE1 POS
Drive control and features
65
t
3
-130
-30
-20
30
360 = 0
340
0
°
x
° °
x - 100
° °
x - 120
°
100
°
0
°
-30
°
-100
°
-130
- 4.03