User defined velocity units

Overview

The default unit for all velocity and speed data is rpm

The default unit for all acceleration and deceleration data is rpm/s

In the case that the application requires a higher precision in velocity, the unit can be configured by the user through object 0x60A9 SI unit velocity.

Supported values are:

  • 1 rpm (default value)

  • 0.1 rpm

  • 0.01 rpm

  • 0.001 rpm

Attention

As soon as this object is changed, all related objects and subitems also use the chosen unit and must be scaled accordingly. Unexpected behavior and accidents can occur if the chosen unit is not taken into account. For more information please refer to “Objects affected by changes of the velocity unit”.

Usage

To configure the velocity unit write the following values through SDO to object 0x60A9 SI unit velocity:

  • 1 rpm (value 0x00B44700 or 0d11814656) - default

  • 0.1 rpm (value 0xFFB44700 or 0d4290004736)

  • 0.01 rpm (value 0xFEB44700 or 0d4273227520)

  • 0.001 rpm (value 0xFDB44700 or 0d4256450304)

Since version 19.​1.​0 of OBLAC Drives this can be done directly in the UI using Quick Open:

../../../../_images/OD_set_user_velocity2.png

After changing the unit please change all speeds /acceleration objects according to the new precision (see section below for details).

Click on “save to device” to keep the configuration.

Objects affected

  • 0x606B Velocity demand value

  • 0x606C Velocity actual value

  • 0x606D Velocity window

  • 0x606F Velocity threshold

  • 0x6080 Max motor speed

  • 0x6081 Profile velocity

  • 0x6083 Profile acceleration

  • 0x6084 Profile deceleration

  • 0x6085 Quick stop deceleration

  • 0x609A Homing acceleration

  • 0x60B1 Velocity offset

  • 0x60FA Control effort

  • 0x60FF Target velocity

  • 0x230B Secondary velocity value

These subitems are also affected by the value:

  • 0x6099:1 Homing speeds: Speed during search for switch

  • 0x6099:2 Homing speeds: Speed during search for zero

  • 0x2010:6 Torque controller: Field weakening starting speed

  • 0x2010:7 Torque controller: Field weakening ending speed

  • 0x2012:4 Position controller: Position loop integral limit

  • 0x2013:6 Gain scheduling: Position loop integral limit 0

  • 0x2013:15 Gain scheduling: Position loop integral limit 1

  • 0x2013:2 Gain scheduling: Threshold velocity 0

  • 0x2013:11 Gain scheduling: Threshold velocity 1

Example

When a dual-sensor setup is used with one encoder mounted after a reducer with a gear ratio of 1:100 the default velocity unit rpm causes severe inaccuracy in the motion control.

  1. In OBLAC Drives choose 0.001 RPM for SI unit velocity.

    When using a version of OBLAC Drives before 19.1.0, manually write 0d4256450304 to object 0x60A9 SI unit velocity through SDO. The terminal of OBLAC Drives can be used for this operation with the following code line:

ethercat download -p0 0x60A9 4256450304
  1. In OBLAC Drives, accordingly scale the related data:

Data commonly used:

  • 0x6080 Max motor speed

  • 0x6085 Quick stop deceleration

When using homing functions

  • 0x609A Homing acceleration

  • 0x6099:1 Speed during search for switch

  • 0x6099:2 Speed during search for zero

When using gain scheduling for PID controller

  • 0x2013:2 Threshold velocity 0

  • 0x2013:11Threshold velocity 1

When using field weakening

  • 0x2010:6 Field weakening starting speed

  • 0x2010:7 Field weakening ending speed

When using velocity supervision

  • 0x606D Velocity window

When using a self-defined threshold for zero velocity

  • 0x606F Velocity threshold

  1. In OBLAC Drives, click “SAVE TO DEVICE” to save the configuration to the drive permanently.

  2. In the master, accordingly read / write the data with the new unit 0.001 rpm

    • 0x60FF Target velocity

    • 0x606B Velocity demand value

    • 0x606C Velocity actual value

    • 0x60B1 Velocity offset

    • 0x60FA Control effort

    • 0x230B Secondary velocity value

    • 0x6081 Profile velocity

    • 0x6083 Profile acceleration

    • 0x6084 Profile deceleration

Parameters

This object defines the velocity value

Output of position controller in position mode/trajectory generator in velocity mode.

Provides the value read at the velocity sensor (or the derivation of the position signal).

This value reflects each side of the target velocity.

Configures the velocity that is considered zero velocity.

Sets the maximum allowed speed for the motor in either direction.

Configures the velocity target for the end of the acceleration ramp during profiled motion.

Configures the acceleration used during profiled motion.

Configures the deceleration used during profiled motion.

Deceleration used for stopping the motor when quick stop function is activated.

Configures the acceleration and deceleration to be used during a homing operation.

Sets a feed-forward velocity as input to the velocity controller.

Provides a measure of the control effort (the output of the position control loop).

Sets the target velocity and will be used as input to the trajectory generator.

Calculated velocity value of encoder configured as “Feedback display only”.

Values Kp, Ki and Kd for Torque Controller

Values Kp, Ki and Kd for Cascaded Position Controller (Both loops: Position and Velocity)

Parameters needed for Gain Scheduling