Adlink HSL-4XMO Manual do Utilizador descarregar pdf (Página 61)

Operation Theory 51

Figure 4-15: Velocity and Acceleration Time A

How do users decide an optimum value for “OverVelocity” in the

HSL_M_fix_speed_range() function? The HSL_M_verify_speed()

function is provided to calculate such value. The inputs to this

function are the start velocity, maximum velocity and over velocity

values. The output value will be the minimum and maximum val-

ues of the acceleration time.

For example, if the original acceleration range for the command is:

HSL_M_start_tr_move(AxisNo,5000,0,5000,0.001,0.0

01),

then use the following function:

HSL_M_verify_speed(0,5000,&minAccT,

&maxAccT,5000);

The value miniAccT will be 0.0267sec and maxAccT will be

873.587sec. This minimum acceleration time does not meet the

requirement of 1mS. To achieve such a low acceleration time the

over speed value must be used.

By changing the OverVelocity value to 140000,

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Adlink HSL-4XMO Manual do Utilizador Página 61