3.1.3.4.4 Example
When a dual-sensor setup is used with one encoder mounted after a reducer with a gear ratio of 1:100 the
default velocity unit rpm causes severe inaccuracy in the motion control.
1. In OBLAC Drives choose 0.001 RPM for SI unit velocity.
When using a version of OBLAC Drives before 19.1.0, manually write 0d4256450304 to object 0x60A9 SI unit
velocity through SDO. The terminal of OBLAC Drives can be used for this operation with the following code
line:
2. In OBLAC Drives, accordingly scale the related data:
Data commonly used:
0x6080 Max motor speed
0x6085 Quick stop deceleration
When using homing functions
0x609A Homing acceleration
0x6099:1 Speed during search for switch
0x6099:2 Speed during search for zero
When using gain scheduling for PID controller
0x2013:2 Threshold velocity 0
0x2013:11Threshold velocity 1
When using field weakening
0x2010:6 Field weakening starting speed
0x2010:7 Field weakening ending speed
When using velocity supervision
0x606D Velocity window
When using a self-defined threshold for zero velocity
0x606F Velocity threshold
3. In OBLAC Drives, click “SAVE TO DEVICE” to save the configuration to the drive permanently.
4. In the master, accordingly read / write the data with the new unit 0.001 rpm
0x60FF Target velocity
0x606B Velocity demand value
0x606C Velocity actual value
0x60B1 Velocity offset
0x60FA Control effort
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