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6.12.2. Stepper motor open-loop control. No feedback device or incremental
encoder on load
The internal motor speed units are motor µsteps / (slow loop sampling period). The
correspondence with the motor speed in SI units
Motor
_
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.
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"
6.12.3. Stepper motor closed-loop control. Incremental encoder on motor
The internal motor speed units are motor encoder counts / (slow loop sampling period). The
correspondence with the load speed in SI units is:
Motor
where:
No_encoder_lines – is the motor 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".
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SI units for motor speed are [rad/s] for a rotary motor, [m/s] for a linear motor
© Technosoft 2007
=
Speed
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SI
]
μ
No
_
steps
=
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Speed
[
SI
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×
No
_
4
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is:
×
π
2
×
Motor
×
×
No
_
steps
T
×
π
2
×
Motor
×
encoder
_
lines
T
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_
Speed
[
IU
]
_
Speed
[
IU
]
IPS110 Technical Reference
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