A. Standard Tracking function
For standard Pulse Command tracking function, these parameters was set

Pr.330/380/430/480=1, Position mode

Pr.331/381/431/481=1, Tracking mode

Pr.329/379/429/479=0, Normal Tracking mode

(Before V9.70 or When not assign any DIx(66))

In this mode, the tracking error is controlled at any instant.

However, the master speed input source must deal with the acceleration/deceleration time.

Else, if the master speed input clock is suddenly asserted,

the slave motor tracking speed will cause transient overshoot as the figure shown below.

To avoid this phenomenon, additional two new tracking function is added after V9.70~.

B. Tracking function with Soft-Clutch (V9.70~)
Similar to the standard Pulse Command tracking function, these parameters was set

Pr.330/380/430/480=1, Position mode

Pr.331/381/431/481=1, Tracking mode

Pr.329/379/429/479=0.00(sec), Normal Tracking mode

Assign one DI as DIx(66)=Soft-Clutch function

Assign one DO as DOx(66)=Clutch Status output

This function can be referred as Soft-Clutch function.

Assume the Master motor is continuously running at high speed,

a mechanical Hard-Clutch can bring up the slave speed with inevitable machine shock.

For avoiding this machine shock, the Soft-Clutch function is designed

in order to bring the slave speed up smoothly using the pre-determined time assigned in Pr.001.

When the Clutch is totally engaged, an output function DOx(66) can be used to indicate the Clutch status.

In the same manner, when the Soft Clutch is OFF, the slave speed is also decreased smoothly by the time assigned in Pr.001.

*Note: no matter what is the master speed input, the Clutch Engage/Degage time is always fixed to Pr.001.

 

C. Tracking function with Random Clock Input (V9.70~)  

This mode is suitable when master clock pulse in randomly input to the slave.

The slave will track to the master speed and add acc and dec time automatically.

After the master stop sneding clocks, the slave will also stop and LOCK at the exect position as requested.

Pr.330/380/430/480=1, Position mode

Pr.331/381/431/481=1, Tracking mode

Pr.329/379/429/479=x.xx(sec), Ramp Tracking Acc/Dec time

Assign one DI as DIx(104)=Clock-Enable function

Under this selection (when Ramp Tracking Time>0),

The slave tracking response for random clock input is shown in the following diagram.

If DIx(104) is ON, the output speed curve will ramp up/down using the constant defined in Pr.329/379/429/479

Note in this mode, the Soft-CLUTCH function is automatically disabled.