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    DUPLICATED AND SYNCHRONISED AXES

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    Duplicated and Synchronised Axes

    Uploaded by

    Ahmad korhani

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    © All Rights Reserved
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    onum NUM 1060 NUM 1060-7 DUPLICATED AND SYNCHRONISED AXES en-938875/0 ED, 09-93 en-938875/0 Despite the care taken in the preparation of this document, NUM cannot guarantee the accuracy of the information it contains and cannot be held responsible for any errors therein, nor for any damage which might result from the use or application of the document. ‘The physical, technical and functional characteristics of the hardware and software products and the services described in this document are subject to modification and cannot under any circumstances be regarded as contractual ‘The programming examples described in this manual are intended for guidance only. They must be specially adapted before they can be used in programs with an industrial application, according to the automated system used and the safety levels, required. © copyrigne num 1903. ‘Al rights reserved. No part of this manual may be copled or reproduced in any from or by any means whatsoever, Including photographic or magnetic processes. The transcription on an eleetronie machine of all or patt of the contents is forbidden, © copyright NUM 1909 software NUM 1060. This software is the property of NUM. Each memorized copy of this software sold confers upon the purchaser a non- exclusive lence strictly limited to the use of the sald eopy. No eopy or other form of duplication of this product is authorize. 2 en-938875)0 SS Table of Contents 1 General 1 1d Principle wl 12 Implementation 1 2 Defining Axis Couplings 21 21 Declaring Couplings 21 22 Couplings with Symmetry 21 23 Couplings with Synchronisation 24 3 Enabling Axis Couplings 341 Enabling Duplication 31 Enabling in HOME, JOG or CYHLD Modes 3-1 Enabling in Automatic Mode 31 Enabling Symmetry 3-1 Enabling Synchronisation 31 Enabling by Machine Parameter 3-2 Power on 3-2 JOG Movement 32 Homing 3-2 MDI and AUTO Automatic Modes 32 Synchronisation Error 3-3 Cancelling the Synchronisation Error 33 Enabling by External Parameters 33 Power on JOG Movement Homing MDI and AUTO Automatic Modes 34 Synehronisation Error 34 Cancelling the Synchronisation Error a4 41 Reminders 41 Physical Axis Number 41 Axis Programme Code 41 Restrictions. 41 Examples of Programming with Parameters E 42 en.93887570 4A Examples of Couplings by Machine Parameters 43 5 Displaying Axis Couplings 1 51 General Bl 52 Axis Data Display Bl Appendix A _Bit Data in the Exchange Area Al 4 en-938875/0 1.1 Principle 1 General The duplicated and synchronised axis option couples a "driven" or "slave" axis with a "drive" or "master" axis, ‘The system computes the increase in the drive axis reference and adds it to the driven axis reference. Concerning duplicated axes, it should be noted that: = several axes can be driven by the same drive axis, - the driven axes make the same movements as the drive axis, A driven axis may however move symmetrically with respect to the drive axis. 1.2 Implementation The implementation of duplication requires: - defining the couplings (i.e. assigning a drive axis to a driven axis), - enabling the couplings ((.e. choosing the type of duplication). ‘The driven axis must have the same characteristics as the drive axis, Le. - speed, ~ acceleration, - position loop time constant. ‘en-938875/0 1-1 1-2 en-938875/0 SS 2 Defining Axis Couplings 2.1 Declaring Couplings By convention, the number of the coupling is the physical number of the driven axis in the pair. The physical number of an axis is determined by the wiring of the address pins on the axis connector (00 to 31). The couplings are internally defined in a 32-word table. For each physical axis, each word contains the number of its drive axis or FF if it is a drive axis or an independent axis. The table is loaded: ~ form machine parameter P27 when the system is turned on, or - by programming external parameters £94100 to E94131. Example: coupling by parameter E941xx: £94102 = 5 means that axis 02 is driven by the axis with physical number 05. The couplings defined by P27 when the system is turned on cannot be modified by programming 2.2 Couplings with Symmetry For such duplicated axes respect to its drive axis, the driven axis moves symmetrically with 2.3 Couplings with Synchronisation For such duplicated axes, the driven axis is synchronised with respect to its drive axis. Synchronisation consists of measuring the difference in movement (ERSYN) of the driven axis with respect to the drive axis and reinjecting a fraction of the signal into the computation of its setpoint voltage. Coupling cannot be both synchronised and symmetric. Synchronisation Error ‘The position error (ERSYN) is the sum of the differences between the drive axis measurement and the driven axis measurement such that: ERSYNo = ERSYNe. * (@rive axis measurement ~ driven axis ¢n-938875/0 2-1 n-938875/0 Two thresholds are also defined: - Threshold 1 (default 160 microns): the maximum permissible error after synchronisation. Above this value, the system generates an error but allows resynchronisation of the driven axis with its drive axis. - Threshold 2 (default 600 microns): the maximum error above which the system generates an error and inhibits synchronisation, The error generated by overrun of thresholds I and 2 resets signal E_CNPRET (NC ready) and generates ERROR 39. These thresholds are defined by machine parameter P24 and cannot be modified by programming. SS 3 Enabling Axis Couplings 3.1 Enabling Duplication 3.1.1 Enabling in HOME, JOG or CYHLD Modes A list of 32 bits internally enables the couplings in these modes. This list is loaded by programming external parameters £96100 to £96131. Coupling is immediately enabled by a nonzero parameter. 3.1.2 Enabling in Automatic Mode A list of 32 bits internally enables the couplings in this mode. This list is loaded by programming external parameters E96000 to 96031. Coupling is immediately enabled by a nonzero parameter. 3.2 Enabling Symmetry A list of 32 bits internally enables symmetrical movement of the driven axis with respect to its drive axis when duplication is effective (ee See. 3.1). This list is loaded by programming external parameters E96300 to £96331, A nonzero parameter indicates that symmetry is active on the coupling. 3.3 Enabling Synchronisation A list of 32 bits internally enables duplication with synchron all modes. This list is loaded: + by machine parameter P28 when the machine is turned on, or - by programming external parameters E96200 to £96231 A nonzero parameter indicates that synchronisation Is active. Couplings cannot be both synchronised and symmetric at the same time, ‘en-938875/0 3-1 3.3.1 33.11 BB12 3313 33.14 3-2 Synchronisation differs according to whether it is enabled by machine parameter P28 or external parameter E962xx. Enabling by Machine Parameter Power On. JOG Movement Homing. The system performs synchronisation by holding: Driven axis reference = rive axis reference. Synchronisation is enabled immediately at power on and cannot be cancelled by programming. Action on the JOG control of the drive axis moves the driven axis synchronously with the drive axis Action on the JOG control of the driven axis is inoperative. A homing request from the keyboard or a homing request for a driven axis are inoperative. A programmed homing request for the drive axis is also applied to all its driven axes and synchronisation error detection threshold 1 is inhibited. When all the axes are on their datum switches, if the synchronisation error is below threshold 2 and signal PRESPUIS (power on) is set (PRESPUIS must only be set when couplings are active), the system resynchronises the coupling axes by gradually setting the driven axis reference equal to the drive axis reference, then initialises the synchronisation error. MDI and AUTO Automatic Modes 93887570 The coupling cannot be modified in these modes. Programming of the drive axis moves the driven axis synchronously, Programming of a driven axis is prohibited Enabling Axis Couplings Ce 33.15 33.16 3.3.2 33.21 83.22 3.3.23 REMARK Synchronisation Error An abnormal error between the axes of a coupling resets signal E_CNPRET (NC ready) and generates ERROR 39. In this case, the machine automatic control inhibits the servo-drives (by turning them off) and resets signal PRESPUIS. Cancelling the Synchronisation Error If the error is below threshold 2 after an NC reset by the operator, as soon as signal PRESPUIS is set (servo-drives active), the system resynchronises the coupling axes by gradually setting the driven axis reference equal to the drive axis reference. If the error is above threshold 2, it cannot be cancelled. The axes must be repositioned manually then the system must be reset Enabling by External Parameters Power On JOG Movement Homing The driven axis and drive axis references can be different. The system performs synchronisation by holdi Driven axis reference - drive axis reference = constant difference At power on, the axes are independent. When an external parameter E962xx = 1 is programmed, synchro: nisation of the corresponding coupling is active. If synchronisation is enabled, the movements of the driven axis are synchronous with the drive axis. Otherwise, they are Independent. Before enabling synchronisation, homing is carried out independently on the axes. Homing from the keyboard is enabled. After synchronisation is enabled, if the axes were not homed, only homing of the drive axis is required (homing from the keyboard is refused). Since a difference is allowed between the references, there is no resynchronisation. In this case, the current position and the software switches of the driven axis are meaningless. ‘en-938875/0 3-3 4 MDI and AUTO Automatic Modes It is possible to modify the coupling by programming, e.g.: disable, re- enable, change of drive axis (see Sec. 4.2) 3.2.5 Synchronisation Error An abnormal error between the axes of a coupling resets signal E_CNPRET (NC ready) and generates ERROR 39. In this case, the machine automatic control inhibits the servo-drives (by turning them off) and resets PRESPUIS. 3.3.2.6 Cancelling the Synchronisation Error If the error is below threshold 2 after an NC reset by the operator, as soon as signal PRESPUIS is set (servo-drives active), the system resynchronises the coupling axes by gradually setting the driven axis reference equal to the drive axis reference. If the error is above threshold 2, it cannot be cancelled. The axes must be repositioned manually then the system must be reset. 3-4 093887510 Cl 4 Parameter Setting and Programming 4.1 Reminders 4.1.1 Physical Axis Number The physical number of an axis is determined by the wiring of the address pins on the axis connector (00 to 31). 4.1.2 Axis Programme Code The programme code Is the code (0 to 8) assigned to a physical axis by machine parameter P9 (X Y ZU VW ABC). 4.2 Restrictions The following conditions and restrictions apply to parameter setting and programming with axis couplings: = A coupling can only be redefined if it is disabled (no on-the-fly change of drive axis). - An axis cannot be its own drive axis. - A coupling cannot be enabled for duplication, synchronisation or symmetry unless it is already defined. - A coupling defined by machine parameter P27 cannot be modified but can be enabled or disabled by programming, - A coupling enabled by machine parameter P28 cannot be modified and must first have been defined by parameter P27. + The characteristics of a coupling cannot be modified unless the coupling is disabled, - Synchronisation cannot be enabled unless the driven axis does not belong to any group: - either the axis has been freed by programming E7x005 programming the address of the axis), or -_ the corresponding word of parameter P9 contains FF. - It is recommended to programme function G09 (accurate stopping at end of block before going to next block) on the movements preceding and following a programmed synchronisation. - An NC reset does not destroy the couplings programmed. - A programming error generates ERROR 92. Lq&= en 93887510 4-1 4.3 Examples of Programming with Parameters E 4-2 en-938875/0 E94Ixx: Programmed definition of a coupling (assignment of a drive axis to a driven axis) £94102=5 The axis with physical number 02 is driven by the axis with physical number 05 E94118 The axis with physical number 18 does not have a drive axis £94125 The axis with physical number 25 is driven by the axis with physical number 18 £94110 =-1 The axis with physical number 10 does not have a drive axis E960xx: Programmed enabling of duplication in automatic mode £94102 =5 Definition of the coupling (see E941xx) E9602 Duplication in automatic mode of physical axis 05 on p hysical axis 02 is enabled 96002 =0 Duplication in automatic mode of physical axis 05 on physical axis 02 is inhibited E961xx: Programmed enabling of duplication in HOME, JOG, CYHLD mode £94102 Definition of the coupling (see E941xx) £96102 Duplication of physical axis 05 on physical axis 02 in JOG mode is enabled £96102=0 Duplication of physical axis 05 on physical axis 02 in JOG mode is inhibited E962xx: Programmed enabling of synchronisation £94125 = 18 Definition of the coupling (see E941xx) £96225 Synchronised duplication of physical axis 25 on physical axis 18 is enabled Parameter Setting and Programming SS £96225 = 0 Synchronised duplication of physical axis 25 on physical axis 18 is inhibited E963xx: Programmed enabling of symmetry £94102 Definition of the coupling (see E941xx) al axis 02 £96102=1 Physical axis 05 is duplicated on phy: £96302 Symmetrical movement of axis 02 with physical axis 05 is enabled £96302 =0 Symmetrical movement of axis 02 with physical axis 05 is inhibited £96102 =0 Physical axis 05 is no longer duplicated on physical axis 02 4.4 Examples of Coupling by Machine Parameters Machine parameters P24, P27 and P28 are used respectively to: - characterise all the couplings = define fixed couplings (that cannot be modified) - always enable synchronisation after power on P24: Coupling characteristies Word 06 = 160 For coupling, the threshold at which ERROR 39 is set with possible resynchronisation is 160 microns Word 38=250 For coupling, the fraction of the synchronisation error reinjected in the drive reference is 250/1000 Word 64 = 600 For all couplings, the threshold at which ERROR 39 is set with no possible resynchronisation is 600 microns. P27: Definition of fixed couplings Word 00= FF The axis with physical number 00 does not have a drive axis Word 02=05 The axis with physical number 02 is driven by the axis with physical number 05 ‘en-938875/0 4-3 P28: Couplings with permanently enabled synchronisation Word 00=9 If defined by P27, couplings 3 and 0 (bit 3 and bit 0 set) are synchronised when power is applied. For additional information, refer to the Parameter Manual (Reference: 938818). 4-4 en 938875/0 SS 5 Displaying Axis Couplings 5.1 General As soon as a coupling is defined, i.e. a drive axis is assigned to another axis by P27 or E94Ixx, its characteristics are displayed on the continuation (../..) of the current position coordinate page (AXES). 5.2 Axis Data Display Requirements Basie softkey bar displayed.

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