Editing Signal path of motor drive
Your changes will be displayed to readers once an authorized user accepts them. (help) |
Warning: You are not logged in. Your IP address will be publicly visible if you make any edits. If you log in or create an account, your edits will be attributed to your username, along with other benefits.
The edit can be undone.
Please check the comparison below to verify that this is what you want to do, and then save the changes below to finish undoing the edit.
Latest revision | Your text | ||
Line 88: | Line 88: | ||
<math>P_{CAL}=\frac{P_{CVL}}{tf}</math> | <math>P_{CAL}=\frac{P_{CVL}}{tf}</math> | ||
+ | |||
+ | ===Example 4 - alternative calculation methods=== | ||
+ | Here we use do practical calculation example for CVL and CAL values on a spinning motor. AXS is 1 and unit is ''revolutions''. | ||
+ | *Motor has 2500 P/R encoder (10000 CPR) and user wants to rotate it at 1000 rpm in velocity mode. Scaling is set to 1:1 (MUL/DIV ratio is 1) | ||
+ | *Rotation speed is 1000/60 = 16.667 revs/s (RPS) Needed encoder count frequency is 16.667*10000 = 16667 counts/s. | ||
+ | *Internal setpoint is the amount of counts per control cycle so in this case it's 16667/2500 = 66.667 | ||
+ | |||
+ | Because set point is integer value user must round setpoint to 66 or 67. To achieve exact speed, he could change input scaling (MUL/DIV) to allow unrounded value here. | ||
+ | |||
+ | ;Calculating acceleration and velocity limit parameters | ||
+ | If DIV is 50, then user must have {{param|CVL}} value at least 3333 (66.6667*50). | ||
+ | |||
+ | If user wants motor to accelerate to 1000 rpm in 0.1 seconds, then {{param|CAL}} is value should be 3333/2500/0.1 = 13.33. Value must be again rounded to integer and rounding error could be reduced by adjusting scaling (adjust DIV). | ||
{{tip|Granity calculates real world units thus it can be used to calculate and experiment with the scales. As scales are linear, interpolation of values is viable choice.}} | {{tip|Granity calculates real world units thus it can be used to calculate and experiment with the scales. As scales are linear, interpolation of values is viable choice.}} | ||
Line 93: | Line 106: | ||
==See also== | ==See also== | ||
*[[Trajectory planner]] | *[[Trajectory planner]] | ||
− | |||
− | |||
− | |||
− |