Validity: Rule, Task
Variable used to handle axis emulation using a speed reference (SREF) with units NOT in 'bitEncoder/sec'.
Syntax |
E_KAR |
|---|---|
Attributes |
Retentive |
Notes |
If the parameter is 0, 'bitEncoder/sec.' is taken as the unit, otherwise the value is used to convert the speed reference to 'bitEncoder/sec.' |
Example
; Consideriamo la situazione seguente:
lit encoderResolution 65536 ; numb of bit per motor revolution [bitEncoder/MotorRev] lit ratioMotorSlow 30 ; numb of motor revolut per end rotation revolut [MotRev/SlowRev] lit unitPerSlowRotation 1000 ; number of mm per per end rotation revolution [mm/SlowRew] lit maxDriveSpeed 3000 ; maximum Drive Speed RPM [MotRev/min] lit driveReferenceMaxSpeed 12000 ; the drive reference is RPM * 4 [4*MotRev/min][4*RPM] MAX_SPE = ((maxDriveSpeed/60)/ratioMotorSlow)*unitPerSlowRotation ; = 1666.66666 [mm/sec] KBIT2UNIT = unitPerSlowRotation/(ratioMotorSlow*encoderResolution) ; = 0.0005086263021 [mm/bitEncoder] KFF = driveReferenceMaxSpeed / MAX_SPE ; = 7.2 [4*RPM /(mm/sec)] E_KAR = 1/4 * 1/60 * encoderResolution ; = 273.006666 [(bitEncoder/sec)/(4*RPM)]
; having an IV = 250 mm/sec we have (with PRO_GAI = 0): SREF = IV * KFF = 1800 SREF in bitEncoder = SREF * E_KAR = 491412 SREF in bitEncoder * KBIT2UNIT ~= 250 = IV |
