Velocity Transformation

How To Configure Velocity Transformation

  less than a minute  

After linking the drive’s Target Velocity and Velocity Actual Value to Motorcortex parameters via ECAT-Tool, a conversion gain is essential for accurate unit conversion. This process ensures proper communication and control between the drive and Motorcortex.

Configure velocity transformation via the GUI

You can define the velocity transformation between the drive unit [mRPM or RPM] and the Motorcortex unit [rad/s] through the GUI under the Axis Settings Tab.

Example conversion between ticks and rad/s:

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  1. Set the ticks conversion factor for RPM to mRPM:

    • If the drive is configured to use [mRPM]: Enter 1000 as the conversion factor
    • If the drive is configured to use [RPM]: Enter 1 as the conversion factor

  2. Define Unit Conversion and Direction:

    • Set the conversion ratio: Gain Num/Gain Den = 60/(2π)
    • This ratio converts between rad/s and RPM
    • Configure the axis rotation direction using Manual Jog, if the 3D visualization moves opposite to the robot, set Gain Num to -60

Configure velocity transformation via the DESK-Tool

To configure velocity transformation for an axis (e.g., axis 1) using the desk-tool:

GUI parameter: Description: Desk Parameter:
Motor Velocity
Ticks Conversion Gain root/AxesControl/actuatorControlLoops/actuatorControlLoop01/velocityTransformation/transducer/ticksPerRevolution
Gain num Numerator root/AxesControl/actuatorControlLoops/actuatorControlLoop01/velocityTransformation/transducer/gainNum
Gain den Denominator root/AxesControl/actuatorControlLoops/actuatorControlLoop01/velocityTransformation/transducer/gainDen