Adtech ADT-RC400 User Manual page 37

【 】
Formula 1
Unit is user-units/sec。
The conversion relationship is n （r/min） /60*
For example, the maximal allowed velocity is 3000r/min and encoder's bits is 17, then the
corresponding value of PC should be set as:
n（r/min）/60*
【Help*3】
Maximal errors
Maximal errors contain maximal allowed position errors and maximal allowed velocity
errors. At the beginning of debugging, both of them should not be set too large in case of
losing control. After completing debugging, they can be set 2~5 times of actual position
errors and actual velocity errors respectively. The begin values are set as 131072 and the
specific values can be updated according to the detected values.
Motor stuck

Minimal current to activate protection is set according to actual requirement, which
is generally a litter less than rated current.

Maximal velocity of define stuck is set based on actual requirement.

Maximal time allowed in stuck is also set based on actual requirement.
So system will create alarms when the velocity of motor is less than "maximal velocity
of define stuck", current is more than "minimal current to activate protection" and duration is
bigger than "Maximal time allowed".
N
2 = （3000/60）*131072 = 6553600 user-units/sec
Servo Debugging for Pre-motion
N
2
where N is the number of encoder's bits。
23