Acceleration
ASCII: ACCUNIT
Default: 0 valid for all OPMODES
Definition of the dimensional unit for acceleration. This unit is used for the ramps of the trajectory generator
(internal motion blocks, OPMODE 8) as well as for the braking/acceleration ramps of the speed controller.
ID Function Remark
0 ms->VLIM
Acceleration given as run-up time (in ms) taken to reach the target speed
1 rad/s²
Acceleration given in rad/s²
2 rpm/s
Acceleration given in min
-1
/s (rpm per sec)
3 PUNIT/s²
Acceleration given in PUNIT/s² (from Version 4.00)
4 1000*PUNIT/s²
Acceleration given in 1000 * PUNIT/s² (from Version 4.00)
5 10^6*PUNIT/s²
Acceleration given in 1000000 * PUNIT/s² (from Version 4.00)
With the setting ms->VLIM it is still possible to enter the acceleration for the motion block in mm/s². If the setting
is changed, all the acceleration and braking parameters that are affected will be internally converted to the
currently valid dimensional unit.
The automatic parameter adjustment does not apply to the internal motion blocks. For this reason, the valid
dimensional unit for acceleration should be fixed before the first motion block is created. If an alteration is made
at a later stage, the acceleration/deceleration values for all motion blocks will have to be checked, and
corrected if necessary.
Velocity
ASCII: VUNIT
Default: 0 valid for all OPMODES
Definition of the global dimensional unit for speed and velocity. This unit applies to all speed/velocity dependent
parameters of the speed/position controllers.
ID Function Remark
0 Compatibility mode
definition of speed in min
-1
, definition of velocity in µm/s
1 1/min
unit = min
-1
2 rad/s
unit = radians/s
3 °/s
unit = degrees/s
4 Counts/250µs
unit = counts/250 µs
5 PUNIT/s
unit = PUNIT/s
6 PUNIT/min
unit = PUNIT/Min
7 1000*PUNIT/s
unit = 1000*PUNIT/s
8 1000*PUNIT/min
unit = 1000*PUNIT/Min
Note:
1. All speed-dependent parameters are normally defined as 32-bit fixed point numbers (3 decimal places). For
this reason, many settings (in particular: 1000*PUNIT/s), will not be able to cover the entire speed range,
depending on the resolution, that has been set. Care must be taken that a suitable unit is chosen, depending on
the application.
2. All velocity-dependent parameters are normally defined as 32-bit integer numbers. For this reason, it is not
possible to enter a velocity with decimal fractional values, particularly for the Counts/250µs setting. Care must
be taken that a suitable unit is chosen, depending on the application.
Position
ASCII: PUNIT
Default: 0 valid for all OPMODES
Definition of the global unit for all position-dependent parameters of the position controller. The following
settings are possible:
ID Function Remark
0 Counts
internal unit (application-specific)
1dm
unit=1dm
2cm
unit=1cm
3mm
unit=1mm
4 100µm
unit = 0.1 mm
5 10µm
unit = 0.01 mm
6µm
unit=1µm
7 100nm
unit = 0.1 µm
8 10nm
unit = 0.01 µm
9nm
unit = 1 nm
With the Counts setting, no path/distance unit will be displayed. In this case, application-specific units can be
implemented, which are exclusively dependent on the resolution that is used.
Setup Software 31
BECKHOFF 07/03 Screen page "Basic Setup"
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