Kollmorgen AKD PROFINET RT Communication, Руководство пользователя

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IO Data Number Set point Actual values
13 HOME_MODE
6.12 Units
6.12.1 Velocity units
Velocity units are normalized according to X2 data normalization of PROFIdrive (hence "set
normalization bit x" => 2^x = 100% velocity).
In velocity mode:
The AKD uses x=15 and 100% is the maximum velocity of the AKD hence 12000 rpm. Thus
the velocity units are 2^15 = 12000 rpm.
E.g. if the S7 wants to set a velocity of 60 rpm in the cyclic channel in needs to convert:
(60 / 12000) * 2^15 = 163
In position mode:
For signal MDI_VELOCITY x = 32 and 100% is the maximum velocity of the AKD hence
12000 rpm. Thus a value of 2^32 for MDI_VELOCITY is equal 12000 rpm.
6.12.2 Position Units
The signal MDI_TARPOS a 32 signed position value. In the default configuration, the res-
olution per revolution is 2^16 (65536) counts. The number of singleturn bits (default 16) can
be changed through PNU 1002.
6.12.3 Acc-/Deceleration Units
The acceleration signal MDI_ACC and MDI_DEC are normalized in the X2 format (x = 16 is
equal to 100% and means 50,000,000 rpm /sec). Acceleration and deceleration can be
scaled using PNU1008 as follows
PNU1008 value rpm/sec
1 763 rpm/sec
2 1536 rpm/sec
... ...
65536 50,000,000 rpm /sec
6.12.4 Current units
Current units are normalized according to N2 data normalization of PROFIdrive
(2^14 = 100%). The AKD’s 100% is the maximum current of the AKD hence DRV.IPEAK.
Thus current units are 2^14 = DRV.IPEAK.
Example: for 3 A AKD, if the S7 reads a current value of -182 Arms in the cyclic channel from
the AKD, it will need to execute the conversion
(9 / 2^14) * (-182) = -0.1 Arms
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO
Kollmorgen | December 2014 43