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Series 15 MB, Enhanced Simple Synchronous Control (A-60606E/07) Additional Manual Page 4

Additional Manual
１．
Specifications
1.1 Synchronous error compensation
In the Simple Synchronous Control, when the synchronous error is larger than the
width of the compensation suppress, the compensation pulse is calculated and
superimposed to the command pulse of slave axis, in order to decrease the synchronous
error.
When the synchronous error is below the set value of the parameter No.1912
(
Synchronous error width of the compensation suppress of 1st axis), the synchronous error
compensation is not executed.
But, the Synchronous error compensation is not done during the following modes.
－ Servo off
－ Servo alarm
－ Follow-up
－
Clamp mode of the synchronous error compensation
(by setting the parameter No.1803#2)
－ Correction mode (by setting the parameter No.1803#1)
The compensation pulse is calculated with the following expression.
ICMP = SYNERR×K
I
ICMP
：
Compensation pulse
SYNERR：Synchronous error
K
I：
Compensation gain(The data of Parameter No.1915)
２／０１１
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Contents Summary of Series 15 MB, Enhanced Simple Synchronous Control (A-60606E/07) Additional Manual

  • Page 1TECHNICAL REPORT No. TMN 98/058 Date Apr. 9 .1998 Manager of Software Engineering Division Enhanced simple synchronous control １．Communicate this report to : 〇 Your information 〇 GE Fanuc, GE Fanuc Fanuc Robotics-NA, Fanuc Robotics-E CINCINNATI MILACRON Machine tool builder Sales agency End user ２．S
  • Page 2４．Attached Document Drawing Ａ－６０６０６Ｅ／０7 No. (001/11 ～ 011/11) ５．Registration of Order List data (In case of Order List) Type of Data Lotus 123/Win ・ Oasys No. SED3-98 / 4005 Date : Apr . 9 . 1998 ‚h ‚c‚ d Original section of issue SED SED3 Sect. Person in Manager Manager Charge
  • Page 3FANUC Series 15-MB Enhanced Simple Synchronous Control Specifications Contents pages １．Specifications ・・・・・・・・・・・ ２ １．１ Synchronous error compensation ・・・ ２ １．２ Synchronous error check ・・・・・・・ ３ １．３ Correction mode ・・・・・・・・・・・ ４ １．４ Attention ・・・・・・・・・・・ ６ ２．Display (Diagnose) ・・・・・・・・・・・ ７ ３．Parame
  • Page 4１．Specifications 1.1 Synchronous error compensation In the Simple Synchronous Control, when the synchronous error is larger than the width of the compensation suppress, the compensation pulse is calculated and superimposed to the command pulse of slave axis, in order to decrease the synchronous erro
  • Page 51.2 Synchronous error check ○ Synchronous error alarm Ⅰ When the synchronous error satisfies the following condition, synchronous error alarmⅠ(OT030) occurs. But Synchronous error alarm Ⅰ is not checked until the synchronization is initiated after turning on the power supply. ε＞ε2 × Ｎ／８ ε ：Synchrono
  • Page 61.3 Correction mode When the synchronous error alarm Ⅱ has occurred, it is possible to correct the difference between the master and the slave axis with the following way. 1) Select Correction mode. Then the check of the excess of the synchronous error is not done. 2) Move the master or the slave ax
  • Page 7(5) Move the master or the slave axis in the direction where the synchronous error decreases, with checking the synchronous error (Diagnose No.3500). The movement in the direction where the synchronous error increases is neglected (But, when the parameter No.1803#3=1, the movement even in the direct
  • Page 81.4 Attention (1) When this function is used, please set the parameter No.1010#0 (In the Shynchronous Control, the Initial Synchronization is not available for the old type Enhancement of Simple Synchronous control) to 0 (2) When this function is used, please set the parameter No.7723 (The maximum e
  • Page 9２．Display (Diagnose) As the data for the synchronization, the following two data are displayed on the diagnostic screen. Data Data No. ３ ５ ０ １ Synchronous error of 1st axis Synchronous error of 2nd axis ： Synchronous error of 10th axis Unit：Detection unit The synchronous error is displayed with the
  • Page 10３．Parameter [Parameter] 7 6 5 4 3 2 1 0 Data No. ADJNDR CLP ADJ MDI １８０３ Parameter input Data format：Bit axis type ＭＤＩ The synchronous operation mode is ０：Correction mode with the master axis movable. １：Correction mode with the slave axis movable. ※Available when ADJ is 1. （※）Set only master axis. Ａ
  • Page 11The following parameters are set only to the master axes. Data No. Data １ ９ １ ２ Synchronous error width of the compensation suppress of 1st axis Synchronous error width of the compensation suppress of 2nd axis ： Synchronous error width of the compensation suppress Unit：Detection of 10th axis unit Da
  • Page 12Data No. Data １ ９ １ ６ Ratio of the limit of synchronous error Ⅰof each axis Data format ：Byte axis form Unit ：１／８ Data range ：１~８ If the error amount exceeds N/8 of the allowable maximum synchronous error, the synchronous error alarm Ⅰ is generated. This N is set to this parameter. １０／０１１
  • Page 13４．Alarm ＯＴ０３０：The synchronous error alarm Ⅰ has occurred. ＯＴ０３１：The correction mode of the synchronization is active. （１８０３＃１＝１） ＳＶ０２４：The synchronous error alarm Ⅱ has occurred. １１／０１１