Festo CiA 402 Manual page 57

4 Setting parameters
Examples of calculating the acceleration factor
Units of Feed
1)
acceleration const.
1 R
R/min,
OUT
1 R
0 DP
OUT
R
/
min s
²
1 R
°/s ,
OUT
3600 °
1 DP
10
²
1/10 °/
s
²
( °/ )
10 s
²
1 R
R/min ,
OUT
R
2 DP
100
100
1/100
R ²
/
min
R ²
( / )
100 min
²
mm/s ,
63, 15
1 DP
1 R
mm ²
1/10 /
s OUT
631, 5
mm ²
( / )
10 s
1) Desired unit at the drive-out
2) Positioning units per revolution at the drive-out (R
3) Time factor_v: Desired time unit per internal time unit
4) Gear factor: R per R
IN OUT
5) Insert values into equation.
Tab. 4.9 Examples of calculating the acceleration factor
Object 607E : polarity
h
The algebraic sign of the position and speed values of the motor controller can be set with the corres-
ponding polarity_flag. This can serve to invert the motor's direction of rotation with the same setpoint
values.
In most applications, it makes sense to set the velocity_polarity_flag and the position_polarity_flag to
the same value.
Setting of the polarity_flag influences only parameters when reading and writing. Parameters already
present in the motor controller are not changed.
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
3)
Time constant
2)
1
1
min * s
1
min
256
256 * s
1
1
2
s
1
60
min * s
1
min
60 * 256
256 * s
1
1
2
min
1
1
min
60
s
1
256
min
60
256 * s
mm
1
1
R
2
s
1
60
min * s
mm 1
min
10
60 * 256
256 * s
). Feed constant of the drive * 10
OUT
5)
Gear Equation
4)
1
256
1 256 min s
*
1/1
1 1
1
min * s
1
1
1
60 * 256
256 min * s
1
1/1
*
1 1
1
s 2
3600 °
10
1
1
256
256 min * s
2
2/3
*
3 1
60
min 2
1
100
100
1
1
60 * 256
4 256 min * s
4/5
*
5 1
1
s 2
mm
631,5
10
1
-DP
Result
shortened
1
min
256
num: 256
256* s
div:
1
min
1
s
1
min
15360
256 * s num: 64
3600
°
div: 15
10 s 2
1
min
512
256 s
num:
1
div: 1125
18000
100 min 2
1
min
122880
256 s num: 8192
mm
6315 div:
10 s 2
(points after the decimal)
1
32
421
57