Rockwell Automation Publication 2080-UM002N-EN-E - November 2022 185
Chapter 9 Motion Control
Table 32 - Dynamics Parameters
Parameter Values
Start/Stop Velocity
(1)
(2)
(1) The parameter is set as REAL (float) value in Connected Components Workbench. To learn more about conversions and
rounding of REAL values, see Real Data Resolution
on page 187.
(2) The formula for deriving rpm to user unit, and vice versa:
The range is based on Motor and Load parameters (See Motor and Load
Parameters on page 183) using:
Range 1…100,000 pulse/sec
Default: 300 rpm
For example, you can configure the value from 0.005…500 mm/s for 200 pulses
per revolution and units of 1 mm per revolution.
(3)
Rpm value is automatically populated when a value in user units is specified, but
the user can also initially enter an rpm value.
Start/stop velocity should not be greater than maximum velocity.
(3) To convert from parameter value from pulse to user units:
Start/Stop Velocity in rpm
(1) (2)
Max Velocity
(1) (2)
The range is based on Motor and Load parameters (See Motor and Load
Parameters on page 183) using:
Range: 1…10,000,000 pulse/sec.
Default: 100,000.0 pulse/sec
Max Acceleration
(1)
The range is based on Motor and Load parameters (See Motor and Load
Parameters on page 183) using:
Range: 1…10,000,000 pulse/sec
2
Default: 10,000,000 pulse/sec
2
Max Deceleration
(1)
The range is based on Motor and Load parameters (See Motor and Load
Parameters on page 183) using:
Range: 1…100,000 pulse/sec
2
Default: 10,000,000 pulse/sec
2
Max Jerk
(1)
The range is based on Motor and Load parameters (See Motor and Load
Parameters on page 183) using:
Range: 0…10,000,000 pulse/sec
3
Default: 10,000,000 pulse/sec
3
Emergency Stop Profile Defines stop type, velocity, deceleration, and jerk values.
Stop Type Set as Deceleration Stop (default) or Immediate Stop.
Stop Velocity
(1)
The range is based on Motor and Load parameters (See Motor and Load
Parameters on page 183) using:
Range: 1…100,000 pulse/sec
Default: 300 rpm
Stop Deceleration
(1)
The range is based on Motor and Load parameters (See Motor and Load
Parameters on page 183) using:
Range: 1…10,000,000 pulse/sec
Default: 300.0 rpm
2
Stop Jerk
(1)
The range is based on Motor and Load parameters (See Motor and Load
Parameters on page 183) using:
Range: 0...10,000,000 pulse/sec
3
Default: 0.0 rpm
3
(Disabled)
A red border on an input field indicates that an invalid value has been
entered. Scroll over the field to see tooltip message that will let you
know the valid value range for the parameter. Supply the valid value.
v (in rpm) =
v (in user unit/sec) x 60 s
travel per revolution (in user unit)
Travel per revolution
Pulse per revolution
Value in user unit = Value in pulse x
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