Aerotech UNIDEX 600 Series, Руководство пользователя

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U600 User’s Guide Parameters
Version 1.4
Aerotech, Inc.
C-43
C.2.100. VELTIMECONST
This axis parameter is used by the velocity filter to smooth out the velocity command.
The units are milliseconds and approximately specify the minimum time to reach the
commanded velocity. In other words, this insures that no acceleration can take place in
less than VELTIMECONST milliseconds. A zero value disables filtering. The filtering is
achieved by modifying the velocity command. This parameter is manipulated by the G23
/ G24 commands to implement corner-rounding on the UNIDEX 600 Series controller
and may be set by the user, but, not while G23 is active. Setting this parameter to non-
zero activates filtering. Increasing the value causes more filtering and more corner
rounding. This parameter affects all types of motion (including cam motion), except
homing.
If this filter is used in conjunction with the GANTRYMODE, it must be applied to
the master and slave axes.
Figure C-7. Velocity Time Constant Effect on Velocity Change
The observed value of
∆
t, for contoured moves (G1, G2, G3, G12, G13) may actually be
larger than the VELTIMECONST value provided, You must experiment, under benign
conditions to insure an appropriate setting for this axis parameter.
The acceleration of contoured motion may be limited by the following task parameters:
BlendMaxAccelLinearIPS2 - Maximum acceleration for linear axes
BlendMaxAccelRotaryDPS2 - Maximum acceleration for rotary axes
BlendMaxAccelCircleIPS2 - Limiting acceleration during circle/arc’s
(G2/G3)
∆
t
W here
∆
t is the V E LT IM E C O N S T value
(m illis econds); and
P rogram m ed C om m and
A ctual C om m and
V elocity
Tim e
∆
t
Velo city
C o m m an d