Example Lightbus drive

According to the manufacturer specific default definition in the Lightbus drive for the parameter VUNIT the value 1 must be entered. this means, the default of the rotational speed takes place thereby in revolutions per minute.

Step 1:

The conversion factor between revolutions per minute and the command value transmitted in the cyclic telegram is according to the manufacturer documentation:

So to move the motor with a speed of one revolution per minute the (rounded) output of the value 140 is necessary.

Step2:

To reach a velocity of 1 m/min with a leadscrew pitch of 5 mm and a gear ratio of I =1:1 a motor speed of

  is necessary.

Step 3:

Under consideration of the velocity scaling factor f for the velocity command value for 1m/min the result is:

With that the value of .

As an alternative, the multi_gain can be calculated with the following formula:

In this case I_u is the number of encoders increments per motor revolution. In case of a lightbus drive these are 65637 increments per revolution.

With a leadscrew pitch s of 5 mm/revolution and 65536 increments per revolution for wegauf_z=65536 and wegauf_n=50000 the result is:

Possible values of P-AXIS-00129 and P-AXIS-00128 would be: