Jerk Units; Dc Brushed Motor With Quadrature Encoder On Motor; Stepper Motor Open-Loop Control. No Feedback Device - Technosoft IPS110 Technical Reference

6.4. Jerk units

The internal jerk units are internal position units / (slow loop sampling period)
variation over one slow loop sampling period.

6.4.1. DC brushed motor with quadrature encoder on motor

The internal jerk units are encoder counts / (slow loop sampling period)
with the load jerk in SI units
Load _ Jerk [ SI
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"

6.4.2. Stepper motor open-loop control. No feedback device

The internal jerk units are motor µsteps / (slow loop sampling period)
the load jerk in SI units is:
Load _
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"
27
SI units for jerk are [rad/s
© Technosoft 2007
27
is:
× π
2
=
]
×
No _ encoder _
4
=
Jerk [ SI ]
μ
No _ steps
3
] for a rotary movement, [m/s
×
Motor
3
× ×
lines Tr T
× π
2
×
3
× × ×
No _ steps Tr T
3
] for a linear movement
62
3
i.e. the acceleration
3
. The correspondence
_ Jerk [ IU ]
3
. The correspondence with
Motor _ Jerk [ IU ]
IPS110 Technical Reference