Reference velocity selection

The maximum velocity is calculated based on the maximum motor speed (name plate) and the distance, in revolutions per second.

v_max = (maximum motor speed x 360°) / 60 sec.
= ((3,600 revolutions / min.) x 360°) / 60 sec.
= 21,600 revolutions / sec.

Reference velocity selection 1: — Adjusting the reference velocity

This is a theoretical value that is quite close to the practical value, although the value may vary, depending on the load. To determine the actual value set the K_v factor to 0 and determine the final reference velocity empirically. To this end move the motor using the keys F1 - F4 and compare the actual velocity and the setpoint velocity. These values should be almost identical. If the actual velocity is greater, increase the reference velocity slightly. If the Actual velocity is smaller than the Setpoint velocity, reduce the reference velocity slightly. This empirical exercise should only be carried out once the other parameters have been set.
In our case the reference velocity is 25,570 revolutions / sec. Finally, adjust the maximum allowed velocity.