Anaheim Automation CLCI2000 Manuale Utente Scaricare il pdf (Pagina 37)

It is necessary to determine the optimum value for the R4 Factor in order to obtain the desired Base Speed and Max

Speed. Some balance must be reached between the lowest and highest desired speeds to allow for the most accurate

settings of each. A large factor will produce the smoothest ramping, but will not allow for very high speeds. A low factor

will produce the higher speeds, but the ramping is not as smooth. In the subroutines affecting the speed settings, the

highest possible factor is used for the given Base Speed and Max Speed. The relationship between the factor and both

the Base and Max Settings is shown in equation 1 and 2.

BASE SPEED = 300 * BASE SETTING / FACTOR (EQ. 1)

MAX SPEED = 300 * MAX SETTING / FACTOR (EQ. 2)

To calculate the time it takes to ramp up or ramp down, equation 3 can be used.

TUP = 2 * RAMP SETTING * (MAX SETTING -BASE SETTING) / 9,830,400 (EQ. 3)

To calculate real acceleration values (in steps/second*second) equation 4 can be used The acceleration profile is linear.

ACCELERATION = (MAX SPEED - BASE SPEED) / TUP (EQ. 4)

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Anaheim Automation CLCI2000 Manuale Utente Pagina 37