FM-3 Programming Module Reference Manual
IR = Inertia Ratio
R = ramp in ms/kRPM
Ta = (unsigned) percent continuous torque required during acceleration ramping (0 - 300)
Td = (unsigned) percent continuous torque required during deceleration ramping (0 - 300)
Vm = motor constant value from Table 18 below
For
IR = (R • Vm (Tau + Tud + Tad + Tdd)) − 1 4000
Where:
IR = Inertia Ratio
R = ramp in ms/kRPM
Vm = motor constant value from the table below
Tau = (unsigned) percent continuous torque required during acceleration ramping while moving up (against the constant force)
Tdu = (unsigned) percent continuous torque required during deceleration ramping while moving up (against the constant force)
Tad = (unsigned) percent continuous torque required during acceleration ramping while moving down (aided by the constant force)
Tdd = (unsigned) percent continuous torque required during deceleration ramping while moving down (aided by the constant force)
Ramp Units Conversion
If you are using an external position controller to generate motion you may need to connect the ramp units as desired below.
Many position controllers define acceleration in units per sec2. The formulas above use ms/ kRPM. Make sure you make this conversion when entering the information into the formula.
Conversion Formula:
MPK = | 106 | |
(RPSS • 60) | ||
|
Where:
MPK = accel ramp in ms/kRPM
RPSS = accel ramp in revolutions per second2
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