RefVelocity

General

Type	EF
Devices supporting the parameter	Virt. Master Encoder
Traceable	Yes

Functional Description

Defines the virtual master encoder reference velocity in units/s.

A unit is defined using the parameter FeedConstant.

The velocity of the virtual master encoder is altered with the acceleration specification in the parameter Acceleration.

Internal numeric format/resolution

The internal velocity is represented as an integer 24.8 figure.

The unit is increments/SERCOS cycle (CycleTime).

The internal resolution is 2¹⁹ increments/rotation.

This leads to an internal resolution of:

Resolution = (1000 * FeedConstant) / (2¹⁹ * CycleTime)

Example

FeedConstant = 360 units

CycleTime = 1 ms

Resolution = 0.69 units/s