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T – is the slow loop sampling period expressed in [s]. You can read this value in the
"Advanced" dialogue, which can be opened from the "Drive Setup"
6.2.2. Stepper motor open-loop control. No feedback device
The internal speed units are motor µsteps / (slow loop sampling period). The correspondence with
the load speed in SI units is:
Load
_
Speed
where:
No_steps – is the number of motor steps per revolution
No_µsteps – is the number of microsteps per step. You can read/change this value in the
"Drive Setup" dialogue from EasySetUp.
Tr – transmission ratio between the motor displacement in SI units and load displacement
in SI units
T – is the slow loop sampling period expressed in [s]. You can read this value in the
"Advanced" dialogue, which can be opened from the "Drive Setup"
6.2.3. Stepper motor open-loop control. Incremental encoder on load
The internal speed units are load encoder counts / (slow loop sampling period). The transmission
is rotary-to-rotary. The correspondence with the load speed in SI units is:
Load
_
Speed
where:
No_encoder_lines – is the rotary encoder number of lines per revolution
Tr – transmission ratio between the motor displacement in [rad] and load displacement in
[rad] or [m]
T – is the slow loop sampling period expressed in [s]. You can read this value in the
"Advanced" dialogue, which can be opened from the "Drive Setup".
6.2.4. Stepper motor closed-loop control. Incremental encoder on motor
The internal speed units are motor encoder counts / (slow loop sampling period). The
correspondence with the load speed in SI units
Load
_
Speed
23
SI units for speed are [rad/s] for a rotary movement , [m/s] for a linear movement
© Technosoft 2007
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IPS110 Technical Reference
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