JVL MAC050 - Page 221

JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 217
5.6 Expansion Mod. MAC00-FC2/FC4/FC41
Velocity_encoder_factor formula:
notice that the samplefrequens is differens in MAC050-141.
Or as and object:
The Velocity_encoder_factor in example 1 is calculated to:
Example 2:
We have a MAC800 motor with 8000 counts/revolution and the same belt drive as in the
above example under Position_Factor. We want the user unit of the velocity to be in
mm/s. The parameters should be set as follows:
The Velocity_encoder_factor in example 2 is calculated to:
Acceleration_factor.
This factor is used to convert the user unit into the internal unit (counts/sec²).
The factor is adjusted via object 6097h.
Example 1:
We have a MAC800 motor with 8000 counts/revolution. We want the user unit of the
acceleration to be in RPM/s. The parameters should be set as follows:
Acceleration_factor formula:
Velocity_encoder_factor=
Velocity_encoder_factor_Numerator
*
16
Velocity_encoder_factor_Divisor SampleFreq
Velocity_encoder_factor=
Object 6094sub1
*
16
Object 6094sub2 Samplefreq
Velocity_encoder_factor=
8000
*
16
= 2,77 RPM
60 770
Object Name Calculated value Value
6094h subindex 1
Velocity_Encoder_Factor_
Numerator
389.56/(3.5*8000)
=0.013913
13913
6094h subindex 2 Velocity_Encoder_Factor_Divisor 1 1000000
Velocity_encoder_factor=
13913
*
16
= 0,000289 mm
1000000 770
Object Name Value
6097h subindex 1 Acceleration_factor_Numerator 8000
6097h subindex 2 Acceleration_factor_Divisor 60
Acceleration_factor=
Acceleration_factor_Numerator
*
16
Acceleration_factor_Divisor SampleFreq*SampleFreq