The following table shows you the speed, position and direction units by servodrive:
|
Units
|
Lexium15MP/HP/LP
|
Icla
|
ATV31
|
ATV71
|
Lexium05 / Lexium32
|
|
Position
|
PUNIT
|
inc
|
-
|
-
|
USR
|
|
Speed
|
VUNIT
|
rpm
|
rpm
|
rpm
|
rpm
|
|
Rotation
|
rpm
|
rpm
|
rpm
|
rpm
|
rpm
|
|
Torque
|
1/1000 rated torque
|
-
|
0.01 nominal torque
|
0.01 nominal torque
|
1/100 amp
|
USR is a unit that the user defines in Powersuite (by default, it is 16,384 units per rev).
PUNIT is a position unit that the user defines in Unilink.
VUNIT is a unit to be defined by Unilink (by default, this is PUNIT/sec).
NOTE: Rotation units only concern the MC_MOVEVELOCITY block.
Speed Equation of the Lexium 15 MP/HP in Speed Mode
The rotation speed of the motor controlled in speed mode by a Lexium 15MP is the setpoint speed multiplied by 0.5722 (0.5722=60*10000/220).
Example:
The value of the VELOCITY input parameter of the MC_MOVEVELOCITY block is 3000. The gearing rotation speed is therefore 1716.6 RPM (3000*0.5722).
Speed Equation of the Lexium 15 MP/HP in Position Mode
The rotation speed of an axis controlled in position mode by a Lexium 15MP is the setpoint speed multiplied by a coefficient K.
K=PGearI/10000.
PGearI is the numerator of the resolution configured in the servodrive by Unilink.
Example:
The value of the VELOCITY input parameter of the MC_MOVEABSOLUTE block is 3000. PGearI is 5000. Punit is in μm format.
K=5000/10000=0.5
Thus the axis speed is 15000 μm/sec (30000*0.5).
Speed Equation of the Lexium 15 LP in Position Mode and Speed Mode
Parameter VELOCITY equation of the Lexium 15 LP in Position mode for MC_MOVEABSOLUTE and MC_MOVERELATIVE :
VELOCITY (rpm) = VELOCITY (inc/250 μs) * (60*4000) / 2 ^ 32
Parameter VELOCITY equation of the Lexium 15 LP in a Velocity mode for MC_MOVEVELOCITY:
VELOCITY (rpm) = VELOCITY * 60 / P_GEARI
Unit of the status velocity of the Lexium 15 LP for MC_READACTUALVELOCITY:
PUNIT (Basic screen in Unilink) defines VELOCITY unit
Unit of the Position parameter and status of the Lexium 15 LP
VUNIT (Basic screen in Unilink) defines Position unit
We strongly advise the use of the speed units in rpm whatever the type of control is. In the other cases of units (i.e. mm/min) the formulas are to be adapted to take into account the linear dimension of the unit and no more the angular one, by integrating the P_GEARI factor there.
Tab synthesys => VELOCITY unit in rpm position mode using MC_MOVEABSOLUTE command for example:
VELOCITY Setpoint in rpm. Reading on Unilink in rpm
VELOCITY value returned by MC_READACTUALVELOCITY:
VELOCITY (inc/250 μs) = VELOCITY Setpoint (rpm) * 2 ^ 32 / (60 x 4000)
In velocity mode, using MC_MOVEVELOCITYcommand
VELOCITY Setpoint to be applied related to the velocity in rpm to be reached. Reading on Unilink in rpm
VELOCITY Setpoint = VELOCITY (rpm) * P_GEARI / 60
VELOCITY value returned by MC_READACTUALVELOCITY:
VELOCITY = VELOCITY Setpoint * 2 ^ 32 / (P_GEARI x 4000)
