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6.1.3. Stepper motor open-loop control. No feedback device
The internal position units are motor µsteps. The correspondence with the load position in SI
units is:
Load
_
Position
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
6.1.4. Stepper motor closed-loop control. Incremental encoder on motor
The internal position units are motor encoder counts. The correspondence with the load position
35
is:
in SI units
Load
_
Position
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
6.1.5. Stepper motor open-loop control. Incremental encoder on load
The internal position units are load encoder counts. The transmission is rotary-to-rotary. The
correspondence with the load position in SI units is:
Load
where:
No_encoder_lines – is the rotary encoder number of lines per revolution
Tr – transmission ratio between the motor displacement in SI units and load displacement
in SI units
35
SI units for position are [rad] for a rotary movement , [m] for a linear movement
© Technosoft 2011
=
[
SI
]
μ
No
_
steps
=
[
SI
]
×
No
_
encoder
4
=
_
Position
[
SI
]
×
No
_
4
×
π
2
×
Motor
×
×
No
_
steps
Tr
×
π
2
×
Motor
×
_
lines
Tr
×
π
2
×
Load
encoder
_
lines
78
_
Position
[
IU
]
_
Position
[
IU
]
_
Position
[
IU
]
IDMx40 Technical Reference
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