Examples and tips
PROGRAMMING MANUAL 249
Revision 1.0
The example values for the program and motion parameters in the Trajexia
system are given below. Note that they are appropriate for 13-bit encoders.
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Speed mode examples
Drive Parameter value Description
Pn103 = 716 Inertia ratio
Pn110 = 0012 No autotuning
Pn202=1 Gear ratio numerator
Pn203=1 Gear ratio denominator
Motion Parameter values Description
UNITS =1 Working in encoder counts
SPEED=200000 Speed setting
ACCEL=1000000 Acceleration setting
DECEL=1000000 Deceleration setting
MOVEMENT=81920 10 Turns
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