Baumer EA Series - Speed; Speed Measuring Unit; Speed Update Period; Speed Filter Depth

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02.20
6.5. Speed
The speed value is specified in Instance Attribute 24 - Velocity Value.
Assembly instances 3 and 110 provide the speed value and the absolute position value.
It is possible to use a filter (calculation of average value) for the calculation of the speed value. For the
configuration of the filter both parameters “Speed Update Period” and “Speed Filter Depth” are used. In
chapters Speed update period and Speed filter depth details can be found.
When a gear factor is used the following has to be considered for the calculation of the speed value:
- The gear factor is not taken into account in the speed value.
- The speed value refers to the drive side.
6.5.1. Speed measuring unit
The measuring unit for the speed value is defined by Instance Attribute 25 - Velocity Format and Instance
Attribute 26 - Velocity Resolution.
The following scaling options are possible:
- rpm revolutions per minute
- steps/10ms number of steps (in the configured singleturn resolution) per 10 ms
- steps/100ms number of steps (in the configured singleturn resolution) per 100 ms
- steps/1000ms number of steps (in the configured singleturn resolution) per second
For each scaling option the measured value is provided as a „signed integer“. Positive values indicate the
direction of rotation with rising position values. Which rotational direction is assigned “positive” depends on
the CW/CCW parameter setting.
6.5.2. Speed update period
The time window for the update of the speed value is defined by Instance Attribute 100 - Velocity Sample Rate.
A short speed update period entails a more dynamic speed output, whereas an extended update period
ensures more stable values. The optimum speed update period depends on the requirements of the
application.
The update period can be configured within a range from 1 ms to 255 ms.
6.5.3. Speed filter depth
The filter depth is defined by Instance Attribute 101 - Velocity Filter.
A shallow filter depth entails a more dynamic speed output, whereas a higher filter depth ensures more stable
values. The optimum speed filter depth in interaction with the configured speed update time depends on the
requirements of the application.
The filter depth is configurable within the range from 1 to 255.