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calculation for velocity and check actual velocity 6 years 1 month ago #723

  • zslim
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For animatics model SM23165, if i want set motor running in 6000rpm. What value should I key in of VT command?
From user manual guide version5 page22 show that:
VT = Velocity * ((enc. counts per rev.)/(sample rate)) * 32768
These factors assume a PID rate of 8.0 kHz, which is the default.
SM23165 has 4000 count encoder.

That's mean that: 4000 count= 1rps
4000 count= 60rpm
(4000/60)=66.667 count= 1rpm
6000rpm = 66.667*6000
=400002 count
(400002/4000)=110.0005=110rps

so,VT= 110rps*((4000/8K))*32768
=1802240
it's correct answer?

but refer user manual page 23,
For run 6000rpm, i should key in value of VT is 3604480 where value come from 110*32768.

1)Which one calculation is correct?
2)it's able use SMI software to check the actual velocity, not commanded velocity when motor is call by program to run. (not use smartmotor playground)
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Re: calculation for velocity and check actual velocity 6 years 1 month ago #724

  • csearcy
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Calculations for Class4 motors differ from those for Class5. The calculations in the Class5 manual are correct for the SM23165 motors.
With an encoder resolution of 4000ppr (post quad)... the following would be true.

6000rpm would be VT=3276800
3000rpm would be VT=1638400
1000rpm would be VT=546133

I'll try to get a spreadsheet posted in the download center that converts those values both ways.
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Re: calculation for velocity and check actual velocity 6 years 1 month ago #725

  • zslim
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Hi,csearcy.

Thanks for ur reply. if With an 8000 count encoder (size 34),

6000rpm would be VT=6553600
3000rpm would be VT=3276800
1000rpm would be VT=1092267

am I correct?
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Re: calculation for velocity and check actual velocity 6 years 1 month ago #726

  • csearcy
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That is correct.

Here is a link to a spreadsheet that makes this easier.
www.animatics.com/index.php?option=com_c...martMotor+Calculator
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