Axis

Parameter "Reference Velocity"

Axis 1:

Factory setting: 2200

Calculate the "Reference Velocity" according to this formula:

 

Axis 2:

vref: "Reference Velocity“ [°/s or mm/s]
(unit depends on the selected unit, see chapter Selecting the unit)

fmax: "Speed range" [full steps/s]
(CoE parameter 8012:05)

x: Distance traveled or angle per revolution

SPR: Steps per revolution

Example of a rotary axis without gearbox, e.g. a Beckhoff AS1xxx stepper motor with 200 steps per revolution:

 

Axis 3: