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6.2.6. Stepper motor closed-loop control. Incremental encoder on motor
The internal speed units are motor encoder counts / (slow loop sampling period). The
correspondence with the load speed in SI units
Load
_
Speed
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".
6.3. Acceleration units
The internal acceleration units are internal position units / (slow loop sampling period)
speed variation over one slow loop sampling period.
6.3.1. Brushless / DC brushed motor with quadrature encoder on motor
The internal acceleration units are encoder counts / (slow loop sampling period)
correspondence with the load acceleration in SI units
For rotary motors:
Load
_
Accelerati
For linear motors:
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
38
SI units for speed are [rad/s] for a rotary movement , [m/s] for a linear movement
39
SI units for acceleration are [rad/s
© Technosoft 2011
=
[
SI
]
×
No
_
encoder
4
=
on
[
SI
]
×
No
_
encoder
4
Encoder
=
on
[
SI
]
Tr
2
] for a rotary movement, [m/s
38
is:
×
π
2
×
Motor
×
×
_
lines
Tr
T
39
is:
×
π
2
×
Motor
2
×
×
_
lines
Tr
T
_
accuracy
×
Motor
_
2
×
T
2
] for a linear movement
81
_
Speed
[
IU
]
2
_
Accelerati
on
[
IU
]
Accelerati
on
[
IU
]
IDMx40 Technical Reference
i.e. the
2
. The
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