User`s manual

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402
PAGE 7-20 C27750-001
ROTATIONAL EXAMPLE
Consider the case of a rotational example as shown below. Consider for example that the position encoder
resolution (feedback) is 65536 increments/rev (e.g. using resolver), the gear ratio is 1:2, and that the position units
are in .1 of a degree, velocity units are in rpm, and acceleration units are in rev/sec
2
.
Motor Revolution
Shaft Revolution
Mo t o r
Load
Ge a r Rat io =
Motor Revs
Shaft Revs
Pos in Position Units (Rotational)
Figure 7.8: - Rotational Factor Example.
The following input values, will result in the output factors listed below: -
ds402 position notation index = -1 ds402 acceleration dimension index 0xAF (rev/sec
2
)
ds402 position dimension index = 0x41 (degrees) ds402 position encoder resolution = 65536 / 1
ds402 velocity notation index = 0 ds402 velocity encoder resolution = 65536 / 1 (Fixed)
ds402 velocity dimension index = 0xA4 (rpm) ds402 gear ratio = 1/2
ds402 acceleration notation index = 0 ds402 feed constant = 360 / 1
xPosNotInde
constfeed
ratiogearresolutionencoderposition
FactorPosition 10
._
___
×
⎟
⎟
⎠
⎞
⎜
⎜
⎝
⎛
×
=
7200
65536
10
1
360
2
1
1
65536
1
=×
⎟
⎟
⎟
⎠
⎞
⎜
⎜
⎜
⎝
⎛
×
=
−
incs per position unit
xVelNotInde
revinunitsvel
ratiogearresolutionencodervelocity
FactorEncoderVelocity 10
sec)/(_
___
×
⎟
⎟
⎠
⎞
⎜
⎜
⎝
⎛
×
=
120
65536
10
60
2
1
1
65536
0
=×
⎟
⎟
⎟
⎠
⎞
⎜
⎜
⎜
⎝
⎛
×
=
incs/sec per velocity unit
xAccNotInde
inunitsaccel
ratiogearresolutionencodervelocity
FactoronAccelerati 10
)sec/(_
___
2
×
⎟
⎟
⎠
⎞
⎜
⎜
⎝
⎛
×
=
2
65536
10
1
1
2
1
1
65536
0
=×
⎟
⎟
⎟
⎠
⎞
⎜
⎜
⎜
⎝
⎛
×
=
incs/sec2 per acceleration unit
xVelNotInde
ratiogear
revinunitsvel
FactorVelocity
10
1
_60
sec)/(_
1 ×
⎟
⎟
⎠
⎞
⎜
⎜
⎝
⎛
×
=