Ginger (Customer) asked a question.
Driving Servos in Sync
Hi all,
I have inherited a project from a colleague who is no longer with the company and I'm struggling to understand their code. I have a machine that has two independent servos that both need to drive in sync to extend a section of the machine. They cannot get out of sync otherwise they'll damage the frame. The servos are controlled by PS-AMC4, and I'm currently using version 4.1.1. The code that should be working uses a Manual Registration function to, as far as I can tell, determine if they are in sync or not, although I don't fully understand what it does. Is someone able to explain what Manual Registration does exactly? Or if there are alternatives to do this?
Thank you,
Ginger
Manual and automatic registration corrects a slave axis to the proper place when the instructions runs to correct for missed or added pulses. How far out of alignment can they get before it results in damage? If you literally cannot be off more than a handful of pulses from each other or something then I don't think MREG or AREG will be that useful to you as they probably wouldnt really catch the problem and apply a fix fast enough in ladder.
Likely there is a gear instruction that is slaving the 2nd axis to the primary and making it follow pulse for pulse the master axis. Another way to make a follower like this is to have the 2nd servo in PT mode and receiving pulses output from the first drive. Either way, you should have some sort of encoder feedback on the physical servo movement to feedback and get confirmation that they are both moving and that they are at the synchronized position. This feedback is what gets used for the registration instructions to figure out corrections.