AMCI SV160E2, Руководство пользователя, Страница: 25 / 120

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REFERENCE 2
M
OTION
C
ONTROL
Definitions
Units of Measure
Distance: Every distance is measured in steps. The SV160E2 uses a value of 16,384 steps per turn.
Speed: All speeds are measured in steps/second. A speed of 16,384 steps/second will result in the shaft rotat-
ing at 1 revolution/second.
Acceleration: The typical unit of measure for acceleration and deceleration is steps/second/second, or steps/
second
2
. However, when programming an SV160E2, all acceleration and deceleration values must be pro-
grammed in the unit of measure of steps/second/millisecond.

To convert from steps/second
2
to steps/second/millisecond, divide the value by 1000. This must be
done when converting from a value used in the equations to a value programmed into an SV160E2.

To convert from steps/second/millisecond to steps/second
2
, multiply the value by 1000. This must be
done when converting from the value programmed into an SV160E2 to the value used in the equations.
Acceleration Type: The SV160E2 uses constant acceleration and deceleration during moves. This limits the
time spent accelerating and decelerating during moves.
Profile Position
Profile Position is defined in counts, and represents the ideal position of the motor shaft at a particular point in
time. The range of position values is -1,073,741,824 to +1,073,741,823.
Encoder Position
Encoder Position is defined in counts, and is the actual, physical position of the motor shaft. The allowable
error between the Profile Position and Encoder Position values is programmable as the Maximum Position
Error Limit parameter. The range of encoder position values is -1,073,741,824 to +1,073,741,823.
Continuous Torque
The maximum torque delivered by the motor when it must run at a constant speed. This value is programma-
ble with the Continuous Torque Limit parameter, which is programmed as part of the configuration data. The
parameter ranges from the 0.10 Nm to 0.50 Nm.
Peak Torque
The maximum torque delivered by the motor during times of acceleration or deceleration. This value is pro-
grammable with the Peak Torque Limit parameter, which is part of the configuration data. The parameter
ranges from the value of the Continuous Torque Limit parameter to a maximum of 1.30 Nm. During the lim-
ited times of acceleration or deceleration, the power delivered by the motor, (which is directly proportional to
the torque), can exceed its continuous power rating without damage to the motor. This additional power
allows the motor to accelerate or decelerate the inertial load faster.
When a move command is sent to an SV160E2, the unit calculates the entire pro-
file before starting the move or issuing an error message. This chapter explains
how the profiles are calculated and the different available moves.