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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
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".
6.3. Acceleration units
The internal acceleration units are internal position units / (slow loop sampling period)
speed variation over one slow loop sampling period.
6.3.1. DC brushed motor with quadrature encoder on motor
The internal acceleration units are encoder counts / (slow loop sampling period)
correspondence with the load acceleration in SI units
Load
_
Accelerati
where:
No_encoder_lines – is the encoder number of lines per revolution
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"
6.3.2. Stepper motor open-loop control. No feedback device
The internal acceleration units are motor µsteps / (slow loop sampling period)
correspondence with the load acceleration in SI units
Load
_
Accelerati
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
24
SI units for acceleration are [rad/s
25
SI units for acceleration are [rad/s
© Technosoft 2007
=
on
[
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]
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4
=
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]
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×
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Tr
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Motor
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No
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60
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i.e. the
2
. The
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. The
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IPS110 Technical Reference
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