Yaskawa MotionWorks+ Windows Software - Manual (Page 133)

MotionWorks+™ User Unit Conversion
127
3.1 User Unit Conversion
Throughout the block definition which follows in this section, the minimum and
maximum range of properties are listed in MP940 base units. The following calcula-
tions are provided to aid in determining the minimum and maximum values in user
units.
Accel and Decel Formulas
The following formula shows conversion from user units/s
2
to milliseconds to rated
speed. In the example, assume the rated motor speed is 3000rpm, the feed constant is 9
user units per machine revolution, and the acceleration setting is 100 user units per s
2
.
Conversely, the following formula can be used to determine minimum and maximum
user units.
Accel
Setting
Rated
Motor
Speed
Convert to
Seconds
Feed
Constant
Gear Box Convert to
Milliseconds
Base Units
Base Units Rated
Motor
Speed
Convert to
Seconds
Feed
Constant
Gear Box Convert to
Milliseconds
ACCEL
Setting
1s 2
100 Units
-------------------------
3000 rev
1 min
----------------------- ×
60s
1 min
-------------- ÷
9 units
1 rev
----------------- ×
2 input
1 output
--------------------- ×
100 ms
1 s
------------------- × 9000 ms =
1
32768ms
------------------------
3000rev
1 min
---------------------- ×
60s
1 min
-------------- ÷
9 units
1 rev
----------------- ×
2 input
1 output
--------------------- ×
1000ms
1s
--------------------- ×
27.465 units
1s 2
--------------------------- =