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6.2. Speed units
The internal speed units are internal position units / (slow loop sampling period) i.e. the position
variation over one slow loop sampling period
6.2.1. Brushless / DC brushed motor with quadrature encoder on motor
The internal speed units are encoder counts / (slow loop sampling period). The correspondence
with the load speed in SI units
For rotary motors:
For linear motors:
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"
6.2.2. DC brushed motor with quadrature encoder on load and tacho on motor
The internal speed units are encoder counts / (slow loop sampling period). The motor is rotary
and the transmission is rotary-to-rotary. The correspondence with the load speed in SI units is:
Load
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"
6.2.3. DC brushed motor with tacho on motor
When only a tachometer is mounted on the motor shaft, the internal speed units are A/D
converter bits. The correspondence with the load speed in SI units
36
SI units for speed are [rad/s] for a rotary movement, [m/s] for a linear movement
37
SI units for speed are [rad/s] for a rotary movement, [m/s] for a linear movement
© Technosoft 2011
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=
Load
_
Speed
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SI
]
4
Encoder
=
Load
_
Speed
[
SI
]
=
_
Speed
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SI
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×
No
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4
×
π
2
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No
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encoder
_
lines
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accuracy
×
Motor
×
Tr
T
×
π
2
×
Load
×
encoder
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lines
T
79
×
Motor
_
Speed
×
×
Tr
T
_
Speed
[
IU
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_
Speed
[
IU
]
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is:
IDMx40 Technical Reference
[
IU
]
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