NANOTEC PD4-C - Page 43

5 General concepts
The physical resolution of the connected position encoder (of the present feedback in general) is set in
object 2052
h
or determined by Auto setup.
5.3.1.2 Gear ratio
The gear ratio is calculated from motor revolutions (6091
h
:1 (Motor Revolutions)) per axis rotation (6091
h
:2
(Shaft Revolutions)) as follows:
Motor revolution (6091
h
:1)
Gear ratio =
Shaft revolution (6091
h
:2)
If object 6091
h
:1 or object 6091
h
:2 is set to "0", the firmware sets the value to "1".
5.3.1.3 Feed constant
The feed constant is calculated from the feed (6092
h
:1 (Feed Constant) per revolution of the drive axis
(6092
h
:2 (Shaft Revolutions) as follows:
Feed rate =
Feed (6092
h
:1)
Revolution of the drive axis (6092
h
:2)
This is helpful for specifying the lead screw pitch for a linear axis.
If object 6092
h
:1 or object 6092
h
:2 is set to "0", the firmware sets the value to "1".
5.3.1.4 Position
The current position in user units (6064
h
) and the target position (607A
h
) are calculated as follows:
Position =
608F
h
:01 x Feed constant (6092
h
)
608F
h
:02 x Gear ratio (6091
h
)
5.3.1.5 Speed
The speed presets of the following objects can also be specified in user units:
Object Mode Meaning
606B
h
Profile Velocity Mode Output value of the ramp generator
60FF
h
Profile Velocity Mode Speed preset
6099
h
Homing Mode Speed for searching for the index /
switch
6081
h
Profile Position Mode Target speed
6082
h
Profile Position Mode Final speed
2032
h
Profile Torque Maximum speed
The internal unit is revolutions per second (rps).
The factor n for the speed is calculated from the factor for the numerator (2061
h
) divided by the factor for the
denominator (2062
h
).
n
velocity
=
2062
h
2061
h
Version: 2.0.1 / FIR-v1650 43