Rockwell-automation 57C422B 2 Axis Servo Module Instrukcja Użytkownika Pobierz pdf (Strona 41)

PROGRAMMING

4-13

4.17 Registers 19, 20: Command Velocity

Registers 19, 20 contain the command velocity. This value is

read by the module whenever the following commands are

issued: "index/move", "home axis", "tune dynamics", "tune

feedforward", or "change velocity" in R66; or "velocity

control" in R65. The command velocity units are:

(encoder counts/sec)*65.536

The maximum speed that can be programmed is 65,536,000

counts/sec.

4.18 Registers 21, 22: Command

Acceleration

Registers 21, 22 contain the command acceleration. This

value is read by the module whenever the following

commands are issued: “index/move", "home axis", "tune

dynamics", or "tune feedforward" in R66; or "velocity control"

in R65. The command acceleration is calculated as follows:

acceleration = (eng units/sec/sec)*(encoder counts/eng units)*.065536

The maximum programmed value is 3.28 x 10

encoder

counts/sec/sec. The acceleration rate and deceleration rate

(R23, 24) do not need to be equal. However, the deceleration

rate must not be less than one-fifth the acceleration rate.

Figure 4.16 – Command Velocity Registers

1 2 ... 36 37 38 39 40 41 42 43 44 45 46 ... 121 122

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Rockwell-automation 57C422B 2 Axis Servo Module Instrukcja Użytkownika Strona 41