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How to set Sys.ServoPeriod ?


dzrong
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I am using ACC24E2A with PPmac CPU,and I have setting the parametres of clock as this:

Gate1[4].PwmPeriod = 1636

Gate1[4].PhaseClockDiv = 2

Gate1[4].ServoClockDiv = 0

According to old manual, I should set Sys.ServoPeriod = 0.0832875569661.

But According to new manual,I should set Sys.ServoPeriod =0.1665751139322( 0.0832875569661 X 2).

Which is right?

 

If I set ServoPeriod as the old manual,when I control the motor to jog,the real motor's actual speed was right,but Motor[].ActVel give twice value.

If I set ServoPeriod as the new manual,when I control the motor to jog,the real motor's actual speed was as twice as the Motor[].JogSpeed commanded.

The feedrate was 100% in the two situation.

What's the problem?

 

Thanks

 

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