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6.1.3. Stepper motor closed-loop control. Incremental encoder on motor
The internal position units are motor encoder counts. The correspondence with the load position
21
is:
in SI units
Load
_
Position
where:
No_encoder_lines – is the motor encoder number of lines per revolution
Tr – transmission ratio between the motor displacement in SI units and load displacement
in SI units
6.1.4. Stepper motor open-loop control. Incremental encoder on load
The internal position units are load encoder counts. The transmission is rotary-to-rotary. The
correspondence with the load position in SI units is:
Load
where:
No_encoder_lines – is the rotary encoder number of lines per revolution
Tr – transmission ratio between the motor displacement in SI units and load displacement
in SI units
6.2. Speed units
The internal speed units are internal position units / (slow loop sampling period) i.e. the position
variation over one slow loop sampling period
6.2.1. DC brushed motor with quadrature encoder on motor
The internal speed units are encoder counts / (slow loop sampling period). The correspondence
with the load speed in SI units
Load
_
Speed
[
where:
No_encoder_lines – is the encoder number of lines per revolution
21
SI units for position are [rad] for a rotary movement , [m] for a linear movement
22
SI units for speed are [rad/s] for a rotary movement, [m/s] for a linear movement
© Technosoft 2007
=
[
SI
]
×
No
_
encoder
4
=
_
Position
[
SI
]
×
No
_
4
22
is:
×
π
2
=
SI
]
×
No
_
encoder
4
×
π
2
×
Motor
×
_
lines
Tr
×
π
2
×
Load
encoder
_
lines
×
Motor
×
×
_
lines
Tr
T
58
_
Position
[
IU
]
_
Position
[
IU
]
_
Speed
[
IU
]
IPS110 Technical Reference
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