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What is the axis velocity

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 Products: ACR9000, 9030,9040,9600,9630,9640, Aries Controller (AR-xxCE)

The ACR controllers provide a number of different parameters to view and monitor axis velocity.

Velocity (Monitor): The TOTAL (CAM + Gear + Jog + Coordinated) commanded velocity for the axis. Units are counts/second.

Current JOG VEL:  The current commanded velocity of a JOG move

Encoder Velocity: Signed change in encoder counts since the previous servo period. EPL axes do not populate the encoder velocity parameter. The EPLD Velocity parameter serves this function for EPL axes.
EPLD Velocity: Signed change in EPL drive's encoder counts since the previous servo period.

RPM: Revolutions per minutes are calculated and stored in this parameter, based on the value set in RPM factor. This value is only populated when RPM factor is greater than zero.

Smooth Encoder Velocity: Encoder counts/servo period. This is actually a filtered value, sampled and averaged over 50 servo periods. This value is used to calculate RPM and is only populated when RPM factor is greater than zero.

Notes:
RPM and Smooth Encoder Velocity are only updated when an axis is associated with an encoder or EPL drive, i.e, encoders without an axis and stepper axes will cannot use RPM and smooth velocity.
ACR Operating System 1.22 or greater is required to use RPM and Smooth Encoder Velocity for EPL drives.

 
Axis Number
 
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Monitor Parameters-Velocity
12315
12571
12827
13083
13339
13595
13851
14107
14363
14619
14875
15131
15387
15643
15899
16155
Current JOG VEL
12346
12602
12858
13114
13370
13626
13882
14138
14394
14650
14906
15162
15418
15674
15930
16186
Reserved Parameters
 
RPM Factor
12370
12626
12882
13138
13394
13650
13906
14162
14418
14674
14930
15186
15442
15698
15954
16210
RPM
12371
12627
12883
13139
13395
13651
13907
14163
14419
14675
14931
15187
15443
15699
15955
16211
Smooth Encoder Velocity
12372
12628
12884
13140
13396
13652
13908
14164
14420
14676
14932
15188
15444
15700
15956
16212


Using RPM factor

The controller will only populate RPM and Smooth Encoder velocity if RPM factor is greater than 0. The user needs to set the RPM factor.

RPM factor uses the following formula:

RPM Factor = 60/(Encoder Pulses per Unit * PERIOD)

Example

Axis0
Motor with 8000 pulses per revolution encoder
0.5 millisecond servo period
P12370=60/(8000*0.0005)
P12371: will update axis velocity in Revolution/minute
Alternatively, to display in revs/sec, set P12370=0.25
Default PERIOD for ACR90x0 controllers is 0.0005 seconds.
Default PERIOD for Aries Controllers is 0.00025 seconds
To check the current PERIOD setting for the controller, type PERIOD at any terminal prompt.

SYS>PERIOD

0.0005

SYS>

Related FAQ:  How Fast is Servo Axis Moving?

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