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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"
6.3.3. Stepper motor open-loop control. Incremental encoder on load
The internal acceleration units are load encoder counts / (slow loop sampling period)
correspondence with the load acceleration in SI units is:
For rotary-to-rotary transmission:
Load
_
Accelerati
For rotary-to-linear transmission:
Load
_
Accelerati
where:
No_encoder_lines – is the rotary encoder number of lines per revolution
Encoder_accuracy – is the linear encoder accuracy i.e. distance in [m] between 2 pulses
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".
6.3.4. Stepper motor closed-loop control. Incremental encoder on motor
The internal acceleration units are motor encoder counts / (slow loop sampling period)
transmission is rotary-to-rotary. The correspondence with the load acceleration in SI units
Load
_
Accelerati
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"
26
SI units for acceleration are [rad/s
© Technosoft 2007
=
on
[
SI
]
×
No
_
encoder
4
Encoder
2
=
on
[
m
s /
]
=
on
[
SI
]
×
No
_
encoder
4
2
] for rotary movement, [m/s
×
π
2
×
Load
2
×
_
lines
T
_
accuracy
×
Load
_
2
T
×
π
2
×
Motor
2
×
×
_
lines
Tr
T
2
] for linear movement
61
2
_
Accelerati
on
[
IU
]
Accelerati
on
[
IU
]
2
26
_
Accelerati
on
[
IU
]
IPS110 Technical Reference
. The
. The
is:
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