User`s manual

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual
C27750-001 PAGE 7-23
)(
10
sec
_
_60
__
1
xVelNotIndexPosNotInde
unitspos
ratiogear
unitsvelconstfeed
FactorVelocity
−
×
⎟
⎟
⎟
⎟
⎠
⎞
⎜
⎜
⎜
⎜
⎝
⎛
⎟
⎠
⎞
⎜
⎝
⎛
××
×
=
60
50000
10
60
1
50000
))6(6(
=×
⎟
⎟
⎟
⎠
⎞
⎜
⎜
⎜
⎝
⎛
=
−−−
velocity unit per motor rpm
⎟
⎟
⎠
⎞
⎜
⎜
⎝
⎛
=
resolutionencodervelocity
resolutionencoderposition
FactorVelocity
__
__
2
65536
1048576
1
65536
1
1048576
=
⎟
⎟
⎟
⎠
⎞
⎜
⎜
⎜
⎝
⎛
=
pos and vel. resolution same
NOTE:- It is recommended that the notations for position, velocity, and acceleration, be in a similar region. If the
user were to select m/sec rather than um/sec for velocity, this would result in an additional factor of 1000000 in the
velocity encoder, and acceleration factors. To avoid an overflow in the numerator the divisor is reduced, to
compensate, with the numerator being set to nearly it’s full numerical range of 2
32
. This has the effect of causing a
minor error in the velocity, and acceleration scaling (e.g. 0.02 % in this example). The larger the difference is in
notation, the larger the error effect.
1310720
50000
100000065536
10
50000
65536
))6(0(
=
×
=×
⎟
⎠
⎞
⎜
⎝
⎛
=
−−
FactorEncoderVelocity
1311020
3276
4294901760
1000000
65535
50000
6553565536
10
50000
65536
))6(0(
==
×
×
=×
⎟
⎠
⎞
⎜
⎝
⎛
=
−−
NOTE:- The indices of notation and dimension selected for a particular unit, should be for the smallest unit of
interest (e.g. if set units to 1mm, then cannot set any position parameter, that is in position units to smaller than
1mm.)