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Home Technologies Electromechanical Group Electromechanical - Industrial Electromechanical Industrial Knowledge Base How fast is my servo axis moving?
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Electromechanical Industrial Knowledge Base How fast is my servo axis moving?
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How fast is my servo axis moving?

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An Axis Parameter has been added to display the Encoder velocity in 'RPM'. This register will display the encoder RPM updated each Period. If RPM factor > 0 then the algorithm turns on to calculate the RPM. This RPM will be determined by the RPM factor for each axis using the following formula.

RPM Factor = 60 / ((Encoder pulse count per unit) * Servo Period)

Encoder pulse count = (Encoder pulses per revolution * encoder multiplier * encoder revolutions per unit)
{Typically the PPU of the Axis}

AXIS0 AXIS1 AXIS2 AXIS3 AXIS4 AXIS5 AXIS6 AXIS7
RPM Factor P12370 P12626 P12882 P12128 P13394 P13650 P13906 P14162
Actual RPM P12371 P12627 P12883 P12129 P13395 P13651 P13907 P14163
AXIS8 AXIS9 AXIS10 AXIS11 AXIS12 AXIS13 AXIS14 AXIS15
RPM Factor P14418 P14674 P14930 P15186 P15442 P15698 P15954 P16210
Actual RPM P14419 P14675 P14931 P15187 P15443 P15699 P15955 P16211
Usage example:
The motor encoder has a 500 PPR, the ACR card has the multiplier set to MULT 4 and the axis has 2.5 encoder revolutions per inch of travel.

REM Encoder pulse count = (500 * 4 * 2.5) = 5000
REM Default PERIOD = 0.0005
REM RPM Factor = 60 /(5000 *0.0005) = 24
REM P12370 = 24

100 P12370 = 60 /(5000 *0.0005)
120 PRINT "Encoder RPM = ";P12371


Sample program to display average RPM
ATTACH MASTER0
ATTACH SLAVE0 AXIS0 "X"

MULT X4
PPU X5000
ACC 100
DEC 100
STP 100
F 100

REM Set value of RPM factor
P12370 = 60 /(5000 * 0.0005)

10 RES X
REM Set random Feedrate (5-100)
20 LV2 = ((RND 90)+5)
30 F (LV2)
REM Set random distance (5-30)
40 LV3 = ((RND 25)+5)
50 X (LV3)
60 DV0=0 : LV1=1
70 INH 516
80 PRINT" Feedrate = "; LV2;" Distance = ";LV3

REM Add RPM samples to average
200 DV0 = (DV0 + P12371)
REM Count number of samples
220 LV1 = (LV1+1)
REM Loop if axis still moving
240 IF (BIT 516) THEN GOTO 200
260 DWL 0.1
300 PRINT " Number of samples = ";LV1
320 PRINT USING "##.##";" Average RPM = ";(DV0/LV1)
340 PRINT " "
360 DWL 5
380 GOTO 10
400 END


DIM LV5
DIM DV1
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