SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual
PAGE 6-27
§ Acceleration:- The Acceleration parameter will set the rate of change of the velocity command during the position
traverse. Specified in units of rad/s
2
.
§ Speed Amplitude:- The Speed Amplitude determines maximum motor velocity during the motion. The Speed-
Amplitude is specified in units of RPM. If the traverse is short, it is possible that the speed command will not reach
the Speed-Amplitude. The Speed-Amplitude is therefore to be interpreted as a maximum speed limit.
§ Period:- The Period determines the time taken for one there-and-back motion of the servomotor. It is specified in
seconds. Note that if the Traverse is long, or the Speed-Amplitude or Acceleration small, then the time taken for
one there-and-back motion may exceed the Period.
§ Traverse:- The magnitude of the motion, expressed in revolutions of the motor shaft, is programmed using the
Traverse parameter.
The position function generator must be stopped when any of the motion parameters are to be changed. This is to ensure
that the motion does not exceed machine limits, in the case that motion is halted part-ways at a certain position, and
recommenced with a full traverse from that position, when the parameters update is complete. Special hand held
terminal and user interface commands are provided for this purpose.
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