Operation & Software Manual
358
Direct Drives & Systems
Chapter E: Appendixes
ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05
20.1.1 Linear motors
20.1.1.1 User increments, linear motors
Abbreviation used in the table below: PCod = Encoder period [m]
h = Slow time interrupt [s] (refer to
for more information)
Remark:
1024 * 2
K77
and 64 * 2
K69
can be replaced by the value given by monitoring M241.
Example:
If a 12 cm movement is wanted with a linear motor, the POS command is used. The value has to be calculated
in increments corresponding to 12 cm with the above table.
With a 40µm period of analog encoder and parameters K50 and K77 equal to 4, the value in increment
corresponding to a 12cm movement is obtained as follows:
The value which has to be programmed is 3072000 increments for this movement.
Unit
Quantity
Conversion formulae
Concerned
quantities
[upi]
Distance
user
position
increment
[m]
→
[upi]
[upi]
→
[m]
• POS (K210),
SET, STE,
WTP
• K27, K34,
K35, K39,
K45, K46,
K47, K48,
K208
• M6, M7, M12,
M13, M36,
M37
[usi]
Speed
user
speed
increment
[m/s]
→
[usi]
[usi]
→
[m/s]
• SPD (K211)
• K41
[uai]
Acceleration
user
acceleration
increment
[m/s
2
]
→
[
uai
]
[uai]
→
[m/s
2
]
• ACC (K212)
• K42, K206
Distance [upi]
Distance [m]
1024 2
K
77
⋅
PCod
2
K
50
⋅
------------------------------
⋅
=
Distance [upi]
Distance [m]
64 2
K
69
⋅
PCod
2
K
50
⋅
------------------------------
⋅
=
(for analog encoder)
(for TTL encoder)
Distance [m]
Distance [upi]
PCod
2
K
50
⋅
1024 2
K
77
⋅
------------------------------
⋅
=
Distance [m]
Distance [upi]
PCod
2
K
50
⋅
64 2
K
69
⋅
------------------------------
⋅
=
(for analog encoder)
(for TTL encoder)
Speed [usi]
Speed [m/s]
256 1024 2
K
77
h
⋅
⋅
⋅
PCod
2
K
50
⋅
------------------------------------------------
⋅
=
Speed [usi]
Speed [m/s]
256 64 2
K
69
h
⋅
⋅
⋅
PCod
2
K
50
⋅
------------------------------------------
⋅
=
(for analog encoder)
(for TTL encoder)
Speed [m/s]
Speed [usi]
PCod
2
K
50
⋅
256 1024 2
K
77
h
⋅
⋅
⋅
------------------------------------------------
⋅
=
Speed [m/s]
Speed [usi]
PCod
2
K
50
⋅
256 64 2
K
69
h
⋅
⋅
⋅
------------------------------------------
⋅
=
(for analog encoder)
(for TTL encoder)
Acceleration [uai] Acceleration m/
s
2
[
]
65536 1024 2
K
77
h
2
⋅
⋅
⋅
PCod
2
K
50
⋅
---------------------------------------------------------
⋅
=
Acceleration [uai] Acceleration m/
s
2
[
]
65536 64 2
K
69
h
2
⋅
⋅
⋅
PCod
2
K
50
⋅
---------------------------------------------------
⋅
=
(for analog encoder)
(for TTL encoder)
Acceleration m/
s
2
[
]
Acceleration [uai]
PCod
2
K
50
⋅
65536 1024 2
K
77
h
2
⋅
⋅
⋅
---------------------------------------------------------
⋅
=
Acceleration m/
s
2
[
]
Acceleration [uai]
PCod
2
K
50
⋅
65536 64 2
K
69
h
2
⋅
⋅
⋅
---------------------------------------------------
⋅
=
(for analog encoder)
(for TTL encoder)
Distance [upi]
Distance [m]
1024 2
K
77
⋅
PCod
2
K
50
⋅
------------------------------
0.12
1024 2
4
⋅
40 10
6
–
2
4
⋅
⋅
-------------------------------
3072000
=
⋅
=
⋅
=
