Beckhoff EL7031 - Page 142

Commissioning
EL70x1142 Version: 4.4
Fig.162: Speed ramps
This value can be set in index 0x8011:07 "Ka factor (curr.)" (see fig. Setting the K
A
-factor).
Fig.163: Setting the KA factor
NC settings
Reference velocity selection
The maximum velocity can be calculated from the base frequency and the motor frequency.
v
max
= base frequency / motor frequency = (2000 full steps / s) / (200 full steps / rev) = 10 revolutions /
s
The reference velocity can be calculated by multiplying the maximum velocity with the distance per
revolution.
v
ref
=10revolutions/sx360°=3600°/s