Units for Position, Velocity, Acceleration and Deceleration

The PLCopen definition uses as unit for position an abstract unit [u], for velocity [u/s](u per second) and for acceleration [u/s²](u per squared second). So it does not matter which unit is selected, but they need to be in certain relations. The ACS35x follows a different this strategy. To establish the conversion of different units, the parameters:

• PARA_MAX_RPM

• PARA_U_PER_REV_NOMINATOROR

• PARA_U_PER_REV_DENOMINATOR

  Have to be adjusted at the function block ACS350_ACCESS_DC.

Some example:

• The motor moves at maximum with 1500 rpm.
• It is planned to use revolutions as unit, so the velocity will be in revolutions/second and the acceleration and deceleration will be in revolutions/s:sup:2
  • PARA_MAX_RPM=1500
  • PARA_U_PER_REV_NOMINATOR=1
  • PARA_U_PER_REV_DENOMINATOR=1
• It is planned to use degrees as unit, so the velocity will be in degrees/second and the acceleration and deceleration will be in degrees/s:sup:2
  • PARA_MAX_RPM=1500
  • PARA_U_PER_REV_NOMINATOR=360
  • PARA_U_PER_REV_DENOMINATOR=1