Ioni velocity units

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

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