5 Setting parameters
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 87
Sub-Index 01
h
Description numerator
Access rw
PDO mapping yes
Units –
Value Range –
Default Value 100
h
Sub-Index 02
h
Description divisor
Access rw
PDO mapping yes
Units –
Value Range –
Default Value 1
Calculation of the acceleration_factor is also made up of two parts: a conversion factor from internal
units of length into position_units, and a conversion factor from internal time units squared into the
user-defined time units squared (e.g. from seconds
2
into minutes
2
). The first part corresponds to the
calculation of the position_factor; for the second part, an additional factor is added:
Parameters Description
time_factor_a The ratio between the internal time unit squared and the user-defined time unit
squared.
(e.g. 1 min
2
= 1 min x 1 min = 60 s x 1 min =
60
/
256
256 min x s).
gear_ratio Gear ratio between revolutions at the input shaft (R
IN
) and revolutions at the
output shaft (R
OUT
).
feed_constant Ratio between revolutions at the drive-out (R
OUT
) and movement in
position_units (e.g. 1 R = 360 degrees)
Tab. 5.8 Acceleration factor parameter
Calculation of the acceleration_factor uses the following equation:
acceleration_factor +
nummerator
divisor
+
gear_ratio * time_factor_a
feed_constant
The acceleration_factor is also written into the motor controller separated by numerator and denomin
ator, so it may have to be expanded.
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