Rockwell Automation 1771-QA Stepper Positioning Assembly User Manual - Manual (Page 72)

3–50 Programming and Operation
Publication 1771-UM002A–EN–P – May 2000
The parameters of the equation (DELPOS, T and IR) and a sketch of
the move are shown in Figure 3.23.
Figure 3.23
0Hz Rate Move
Rate
IR
T
DEL POS
Start
Position Final
Position
Position
10533
20 ms
Example Problem 1:
The seventh move of a profile in continuous mode must be brought
to 0Hz rate so that the profile can return to its starting point value.
The final rate and final position of the previous move are 16k pulses
per second and 510k pulses, respectively. The seventh move must
reach a 0Hz rate at 620k pulses. What decel time should be
programmed? How can this move be achieved?
Solution: Write down the known facts.
IR = 16k (final rate of previous move)
DELPOS = 110k (620k - 510k pulses)
T
2 DELPOS
IR
– 0.04 (Line 1)
T
2(110k)
IR
– 0.04 (Line 2)
T
220k
IR
– 0.04 (Line 3)
T = 13.75 seconds