Acceleration For Trapezoidal Velocity Profiling - OWIS PS 30 Betriebsanleitung

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Note:
It must be ensured that no higher speed is entered than the
equipment is able to withstand, since otherwise the mecha-
nism may be damaged or destroyed.
At a given speed V and an encoder line number R, the motor speed
(without consideration of a possibly existing gearbox) is calculated
as follows:
60 1 1
=
· ·
n
min T 4R
S
resp.
1 1 1
=
n · ·
s T 4R
S
resp.
1 increment 1
=
n ·
s T
The last formula can also be understood as follows: The controller
travels V / 65536 increments for each sampling interval T
For the conversion of motor rotary speed into positioning velocity
of mechanics, mechanical data such as spindle pitch and, if
appropriate, the influence of a gearbox have to be considered.
Example:
Positioning is to be effected at a rated speed of n = 1800 rev./min.
An encoder with R = 500 lines (correspond to 2000 impulses/rev.)
is to be used. What value of V should be selected?
Solution:
It results after resolving the equation for the speed of rotation:
n
V = · 4 · R · 65536 · T
60
Thus, V = 1006633 for n = 1800 rev./min. when using a 500 lines
encoder. A spindle pitch of 1 mm gives a speed of 1.8 m/min. or
30 mm/sec. then.

Acceleration for Trapezoidal Velocity Profiling

A 32-bit word is to be entered as acceleration ("ACC"), the values
range from 1 to 2147483647.
Duration of the trapezoidal profile acceleration ramp at given speed
V and acceleration ACC:
V · T
S
D
(acceleration/deceleration duration in seconds)
t = 1 s ·
ACC
Travelled distance during the trapezoidal acceleration/
deceleration ramp:
V 2
D
s = 1 Increment ·
131072 · ACC
Änderungen vorbehalten
56
V
(revolutions per minute)
·
65536
V
(revolutions per second)
·
65536
V
(increments per second)
·
65536
S
S
(deceleration in increments)
Betriebsanleitung-User Manual PS 30
.
S
Subject to change without notice