Download 20D-PM001 - Rockwell Automation

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013
6
5
4
3
2
1
A
1164
1160
Σ
1166
0
3
0
1
2
01 00
1165
317
SynchLink System Time at
beginning of VScan
+
-
VrtlMaster PosRef
1155
Update Time
Delay
1
(C0F)
263
07
263
(C07)
(C0D)
VrtlMaster Encoder
(C09.bit23)
1156
(C09.bit22)
VrtlMaster PPR
06
F
Heidn0 Cnfg
(VrtlMaster Invert Dir)
Heidn Mkr Offset
Heidenhain 0
Encoder
(C0E)
266
Heidn Encdr Type
(VrtlMaster En)
EGR Position
Output
Output Selection
1161
E
Virtual Encoder Position Task 1 (P1160) and Task 2 (P62)
synchronize every Task 2 scan with the value of P62.
(Task 1)
(Task 2)
When EGR config (P1161) = 0x01, the accumulator integrates
the EGR output (P1165) with the result of EGR function.
EGR Position
Preset
Accum
317
1163
EGR Div
EGR
[N]
[D]
D
Virt Encdr Dlyed (Task 2)
EGR Config
SynchLink System Time at
Position data update
1162
EGR Mul
Deriv
Δ
63
Virt Encdr Posit (Task 2)
C
Virt Encdr Posit (Task 1)
Delay
One
Scan
62
User Functions (Task 1)
Virtual Encoder
EGR Position
Input
Virt Encoder EPR
61
43
Ramped Spd Ref
B
H
(SynchLink Interface )
- Virtual Encoder: P147.bit04 (Virtual Encorder) = 1
- EGR user function: P1000.bit07 (EGR) = 1
- Virtual Master: Connect Heidenhain Option card
Activation
1. Execute Virtual Encoder and output P1160
2. Execute EGR user function and output P1165
3. Read Virtual Master Position Reference P1155
4. Update SynchLink registers
Execution order for Virtual Master in Task 1
(Task 1)
Virtual Master Encoder
Heidenhain Option Card
G
I
Control Block Diagrams
Appendix C
virtual_master_encoder.eps
191