## SmartMotor Class4 和 Class5基本參數值設定

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**以SM23 系列為例**

**Class4 → SM2315D**

**1rev=P/2000**

**1rps=V/32212**

**1rpss=A/7.91**

**T= +1023~-1023**

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**Class5 → SM23165D**

Class5 V改為

Class5增加了減速度參數,可以分別設定 AT (加速度), DT(減速度)的參數值

SM23165D相關參數值如下:

If the motor has a 4000 count encoder (sizes 17 and 23), multiply the desired

velocity in rev/sec by 32768 to arrive at the number to set

count encoder (size 34), the multiplier is 65536. These factors assume a PID

rate of 8.0 kHz, which is the default.

If the motor has a 4000 count encoder (sizes 17 and
23), multiply the desired

acceleration, in rev/sec2, by

an 8000 count encoder (size 34) the multiplier is

a PID rate of 8.0 kHz, which is the default.

Note that

used, they will be rounded up. The default values are zero.

The PT command sets an absolute end position to move to when the motor is

in Position Mode. The units are encoder counts and can be positive or negative

in the range -2,147,483,648 to +2,147,483,647. It is not advisable to attempt

to use absolute moves that would cross the rollover point of the most positive

and most negative value. Also, absolute moves should not attempt to specify

a move with a relative distance with that is more than 2,147,483,647. The end

position can be set or changed at any time during or at the end of previous

moves. SmartMotor™

while SmartMotor™ size 34 resolves 8000 increments per revolution.

In Torque Mode, activated by the

set with the

range between -32767 and 32767. The full scale value relates to full scale or

maximum duty cycle. At a given speed there will be reasonable correlation

between drive duty cycle and torque. With nothing loading the shaft, the

command will dictate open-loop speed. A

the new value to take effect.

**VT**, A改為**ADT**, P改為**PT,**Class5增加了減速度參數,可以分別設定 AT (加速度), DT(減速度)的參數值

SM23165D相關參數值如下:

**VT**= Velocity * ((enc. counts per rev.)/(sample rate)) * 65536If the motor has a 4000 count encoder (sizes 17 and 23), multiply the desired

velocity in rev/sec by 32768 to arrive at the number to set

**VT**to. With an 8000count encoder (size 34), the multiplier is 65536. These factors assume a PID

rate of 8.0 kHz, which is the default.

**→ VT=v*32768 '1rps=60rpm=>32768****ADT**= Acceleration * ((enc. counts per rev.)/(sample rate^2)) * 65536

acceleration, in rev/sec2, by

**4.096**to arrive at the number to set**ADT**to. Withan 8000 count encoder (size 34) the multiplier is

**8.192**. These factors assumea PID rate of 8.0 kHz, which is the default.

Note that

**ADT**,**AT**, and**DT**allow even numbers only. When odd numbers areused, they will be rounded up. The default values are zero.

**→ ADT=a*4.096 '1rev/sec^2=>4.096**

**PT=p*4000**Set Target PositionThe PT command sets an absolute end position to move to when the motor is

in Position Mode. The units are encoder counts and can be positive or negative

in the range -2,147,483,648 to +2,147,483,647. It is not advisable to attempt

to use absolute moves that would cross the rollover point of the most positive

and most negative value. Also, absolute moves should not attempt to specify

a move with a relative distance with that is more than 2,147,483,647. The end

position can be set or changed at any time during or at the end of previous

moves. SmartMotor™

**sizes 17 and 23 resolve 4000**increments per revolution,while SmartMotor™ size 34 resolves 8000 increments per revolution.

**T=frm Set Torque Value, -32767 to 32767**In Torque Mode, activated by the

**MT**command, the drive duty cycle can beset with the

**T=**command. The following number or variable must fall in therange between -32767 and 32767. The full scale value relates to full scale or

maximum duty cycle. At a given speed there will be reasonable correlation

between drive duty cycle and torque. With nothing loading the shaft, the

**T=**command will dictate open-loop speed. A

**G**must be entered after the**T=**forthe new value to take effect.