Difference between revisions of "CanServo/Speed"
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ex) 1920 pos/100msec = 0.142 sec/60deg, PT=10 | ex) 1920 pos/100msec = 0.142 sec/60deg, PT=10 | ||
ex) 1920 pos/100msec = 0.284 sec/60deg, PT=20 | ex) 1920 pos/100msec = 0.284 sec/60deg, PT=20 | ||
Revision as of 11:25, 17 September 2021
CAN 서보에서 속도의 단위는 pos/100msec 입니다.
pos 의 단위는 16384 = 360 deg 입니다.
Vt (sec/60deg) 와 Vp (pos/100msec) 의 변환식은 다음과 같습니다. 단, PT = Reg PID TIME, PX = PT / 10
- Vp = 60 x 16384 / 360 / Vt / 10 x PX
- Vt = 60 x 16384 / 360 / Vp / 10 x PX
ex) 1920 pos/100msec = 0.142 sec/60deg, PT=10
ex) 1920 pos/100msec = 0.284 sec/60deg, PT=20