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Time units for motor


KEJR
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Is there a simple way to change the time units for a motor? I now have my motor in inches for position, but inch/msec and inch/msec^2 are awkward units. Alternatively should I just scale them right in the setup code? //Converts for items expecting motor units per millisecond to motor units per second #define UnitsPerSecondSf 0.001 Motor[n].JogSpeed = 5 * UnitsPerSecondSf I'm just looking for best practice that lets me work with reasonable units. Thanks, KEJR
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There is no direct way so anything you do is some sort of trick, therefore your scale factor way is a good solution. If you want this to work on a CS basis you could consider using feedrate override but I think this is too messy. You can cause a global change by setting Sys.ServoPeriod to a wrong value. This tells the Pmac trajectory calculation enging how long a servo cycle is. If you double this and then restore the feedrate override of the CS to %100 the motor goes twice as fast for the same command. Essentially you have changed the time units from msec to msec/2 for everything in the controller that uses time. Although you could do what you want with this method I think it adds confusion since none of the IDE software supports doing this and all the documentation states msec which would now be incorrect. I am not sure but this might also cause trouble with the autotuner so make sure to be careful using them if you ever do this.
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I guess for cmd and PLC moves the timing in msec isn't a big deal and I can use the scale factors in a manual way. Most machines we leave this alone anyway. I really don't want to do anything to trick the PMAC or anything strange. For motion progs it looks like Coord[].FeedTime sets the time units somehow. So by setting this we could get MotorUnits/sec in a C.S. prog if I read this right. Is this true? Thanks, KEJR
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