Saia PCD2.H310, Manual

Page: 73 / 154

PCD2.H31x Installation and commissioning
26/762 E2
(2H3-09-E.DOC)

SAIA-Burgess Electronics Ltd. Page 9-7
Example: In = 1000 impulses per revolution
s = 2 mm (spindle gradient) (no gears)
4 x 1000
k = ----------- = 2000 impulses/for 1 mm
2
= 2 impulses for 1
µ
m
If the chosen unit of measurement is 1 mm, a value of 2000.0 (floating-
point format) should be written in the PCD register for parameter 9. If
the chosen unit of measurement is 1
µ
m, a value of 2.0 (floating-point
format) should be entered.
Velocity FB 'Init', PCD register for parameter 10
When commissioning for the first time, it is advisable to work with a low
velocity. The value should be entered as an integer in the PCD register
provided, using the same unit of measurement as the machine factor.
Recommendation: 0.05 m/s
→
50 mm/s or 50000
µ
m/s
Ensure that the chosen drive can actually achieve the velocity of its pa-
rameter, otherwise the controller continuously detects a deviation from
the target velocity and adds up these deviations. This will then lead to an
incorrect braking ramp or to an abrupt halt of the motion.
Acceleration FB 'Init', PCD register for parameter 11
When commissioning for the first time, it is advisable to work with a low
acceleration. The value should be entered as an integer in the PCD reg-
ister provided, using the same unit of measurement as the machine factor.
Recommendation: 0.01 m/s
2
→
10 mm/s
2
or 10000
µ
m/s
2
Before starting any motion, check encoder function by manually moving
the axis (amplifier powered off). See also section 9.4.5.