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5.1.2.2. Parameter First Configuration
Ipa
Name
Unit
5051 Pulses
imp
5061 DltDisp
dis
5071 Revol
rev
5161 MaxSpd
dis/sec
5171 MaxAcc
dis/sec
5121 Preset
dis
5131 BaseOri
dis
5181 PropGain
1/sec
5191 SpeedFFwd
%
5141 Maximum
dis
5151 Minimum
dis
5351 Type Cycle0 n
5101 IndexCnf
bits
5111 QualfCnf
bits
5081 ZeroSpd
dis/sec
5091 ZeroOrd
n
5201 MaxStatErr
dis
.
5211 MaxDinErr
dis
5221 MaxPosErr
dis
5241 MinPosTime sec
5231 MaxPosTime sec
5251 OutNorm
rpm*sec/dis rpm*sec/mm 1.718873386
5261 MinRefVel
rpm
5371 EAbsBit
bit
5361 EAbsQRef
bit
5.1.2.3. DltDisp Calculation
Calculation of the pinion circle and therefore of the millimeters covered by the axis during a pinion revolution.
PinionCircle = MR_PinionDiameter * 3.14 = 10 * 3.14 = 314.159265359 millimeters
Calculation of the millimeters covered by the axis during a motor revolution.
mm1MotorRevolution = PinionCircle / MR_Ratio = 314.159265359 / 9 = 34.90658503989 millimeters
Calculation of the millimeters covered by the axis during an encoder revolution.
mm1EncoderRevolution = mm1MotorRevolution/ MO_Motor:EncoderRatio = 34.90658503989 / 1 =
34.90658503989 millimeters.
DltDisp = mm1EncoderRevolution = 34.90658503989 millimeters.
One-axis positioner
Real unit of
measure
imp
EI_Pulses/Rev.= 512 Pulses/Rev. of the incremental encoder.
mm
34.90658503989
1
mm/sec
1745.329251995
mm/sec
3490.658503989
2
2
mm
0
mm
0
1/sec
10
%
0
mm
+1000000
mm
-10000000
n
2
bits
0
bits
0
mm/sec
1
n
0
mm
100
mm
1000
mm
100
sec
0
sec
1
rpm
0.25
bit
EA_Bit/Rev= 8192 bits Bits contained in an absolute encoder revolution
bit
1000000
—————— Instruction manual ——————
Value
Description
Space covered by the axis during an encoder
revolution. See DltDisp calculation.
Number of encoder rev. for which the axis performs
a movement equal to DltDisp units. Set at 1.
Axis maximum speed. See MaxSpd calculation.
Axis max. acceleration. See MaxAcc calculation.
Axis value set during the zero cycle.
Distance between the absolute and the relative
zero position.
Gain value of the open position loop.
It is advisable to set a low value.
Set at 0.
Axis maximum value. This parameter is active
after the zero cycle. It is advisable to set a high
positive value, which avoids electronic limit
switches.
Axis minimum value. This parameter is active
after the zero cycle. It is advisable to set a nega-
tive value, which avoids electronic limit switches.
Zero cycle type. Absolute encoder = 2
This configuration does not use this parameter.
This configuration does not use this parameter.
This configuration does not use this parameter.
Axis sequence for the zero cycle performance.
Max. allowed position error when the axis is
stopped. It is advisable to increase the threshold.
Max. allowed error when the axis is mo-
ving. It is advisable to increase the threshold.
Test threshold for a positioned axis.
Set at 0.
Set at 1
Mechanlical constant between positioner and
motor. See OutNorm calculation.
Set this value at 0.25
Reference value of the absolute encoder.
27
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