| ASCII - Command | VUNIT | |||
| Syntax Transmit | VUNIT [Data] | |||
| Syntax Receive | VUNIT <Data> | Available in | ||
| Type | Variable rw | MMI | Yes | |
| ASCII Format | Integer32 | CANBus Object Number | 365F (hex) | |
| DIM | - | PROFIBUS PNU | 1951 (dec) IND = 1 (dec) | |
| Range | 0 .. 8 | DPR | 351 (dec) | |
| Default | 0 | |||
| Opmode | All | Data Type Bus/DPR | Integer32 | |
| Drive State | Disabled + Reset (Coldstart) | Weighting | ||
| Start Firmware | 1.0 | |||
| Configuration | Yes | Last Change of this Object | 1.0 | |
| Function Group | digital I/O | EEPROM | Yes | |
| Short Description | Systemwide Definition of Velocity / Speed | |||
Description
| VUNIT gives the systemwide definition of velocity / speed resolution. This parameter effects all parameters that are related to velocity of the velocity controller and speed of the position controller. VUNIT = 0 gives velocity in RPM (example OPMODE = 0) gives speed in µm/sec (example OPMODE = 8). VUNIT = 1 Unit = RPM VUNIT = 2 Unit = Rad/Sec VUNIT = 3 Unit = Degree/Sec VUNIT = 4 Unit = increments in PRBASE-format / 250µs example: PRBASE = 24 1500U/min = 25U/s = 25*2^24/4000 IncrPRBASE / 250µs = 104857 IncrPRBASE / 250µs VUNIT = 5 Unit = PUNIT / Sec VUNIT = 6 Unit = PUNIT / Min VUNIT = 7 Unit = 1000 * PUNIT / Sec VUNIT = 8 Unit = 1000 * PUNIT / Min Remark: 1. All parameters that are related to velovity have a fixed format of 32 Bit with 3 fractional digits. This causes a problem with some of the VUNIT settings (especially VUNIT=6), related to the resolution of the position controller (PGEARI), that not the full range of speed can be used. Under this condition, a different setting of VUNIT is necessary. 2. All parameters that are related to speed have a fixed format of 32 Bit with no fractional digits. This causes a problem with some of the VUNIT settings (especially VUNIT=3) to give fractional digits. Under this condition, a different setting of VUNIT is necessary. Definition of the Calculation factors VUNIT=1 1 UPM = 1048576*32/(4000*60) =~ 139.8 Counts VUNIT=2 1 Rad/sec = 1048576*32/(4000*2*PI) =~ 1335 Counts VUNIT=3 1 Grad/sec = 1048576*32/(4000*360) =~ 23.3 Counts VUNIT=4 1 Counts/250µs = 32 Counts VUNIT=5 1 PUNIT / sec = PGEARO / (125 * PGEARI) VUNIT=6 1 PUNIT / min = (PGEARO * 60) / (125 * PGEARI) VUNIT=7 1000 PUNIT / sec = PGEARO / (125 * PGEARI * 1000) VUNIT=8 1000 PUNIT / min = (PGEARO * 60) / (125 * PGEARI * 1000) |