380 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
• Conversion Constant / Motion Resolution = Motion Units (revs, inches,
or millimeters) / Position Unit
Conversely, all actual position, velocity, and acceleration data from the Motion
Planner is scaled from Motion Units to the user's preferred Position Units based
on the Motion Resolution and Conversion Constant. The ratio of Motion
Resolution and the Conversion Constant determines the number of Position
Units in a Motion Unit as described using the following formula:
• Motion Resolution / Conversion Constant = Position Units / Motion
Unit (rev, inch, or millimeter)
In general, the Motion Resolution value may be may be configured in Motion
Counts per Motion Unit independent of the resolution of the feedback device(s)
used. The drive's scaling function takes care of scaling between Feedback Counts
and Motion Counts. Providing a configurable Motion Resolution value is
particularly useful for addressing Fractional Unwind applications where it is
necessary to have an integer number of Motion Counts per Unwind Cycle.
Valid Motion Unit attribute selections are determined by the Feedback
Configuration, Load Type, and Linear Actuator Unit (Lead Unit or Diameter
Unit) values according to the following table:
Feedback Configuration Load Type Linear Actuator Unit Motion Unit
No Feedback Direct Rotary - Motor Rev/s
No Feedback Rotary Transmission - Load Rev/s
No Feedback Linear Actuator mm/rev | mm Load m/s
No Feedback Linear Actuator inch/rev| inch Load inch/s
Master Feedback Direct Rotary - Feedback Rev
Master Feedback Direct Linear - Feedback mm
Master Feedback Rotary Transmission - Load Rev
Master Feedback Linear Actuator mm/rev | mm Load mm
Master Feedback Linear Actuator inch/rev| inch Load inch
Motor Feedback Direct Rotary - Motor Rev
Motor Feedback Direct Linear - Motor mm
Motor Feedback Rotary Transmission - Load Rev
Motor Feedback Linear Actuator mm/rev |mm Load mm
Motor Feedback Linear Actuator inch/rev | inch Load inch
Load | Dual Feedback Direct Rotary - Load Rev
Load | Dual Feedback Direct Linear - Load mm
Load | Dual Feedback Rotary Transmission - Load Rev
Load | Dual Feedback Linear Actuator mm/rev | mm Load mm
Load | Dual Feedback Linear Actuator inch/rev | inch Load inch
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