Ioni velocity units

Questions Motor drives
1

Hi!

I have a question regarding IONI drive and velocity control (I guess I am missing smth obvious here…). What units are used for the velocity value and how to convert it to angular speed? I guess it can be calculated by using encoder resolution and DIV/MUL values but I cannot figure out the exact formula.

Thanks,
Allan

2

Hi

I’m really sorry that this has not been answered on time!

The velocity from the setpoint is scaled so that the maximum velocity set with in parameter CLV found in Granity/Goals tab is divided into 16384 steps.

E.g. setpoint of 2000 gets: 2000/16384 * 50 rev/s = 6.1035 rev/s.

Kind regards, Esa