Jerk Units; Brushless / Dc Brushed Motor With Quadrature Encoder On Motor; Dc Brushed Motor With Quadrature Encoder On Load And Tacho On Motor - Technosoft IDM240-5EI Technical Reference

Load _ Accelerati
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"

6.4. Jerk units

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

6.4.1. Brushless / 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
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"

6.4.2. DC brushed motor with quadrature encoder on load and tacho on motor

The internal jerk units are encoder counts / (slow loop sampling period)
the transmission is rotary-to-rotary. The correspondence with the load jerk in SI units is:
42
SI units for jerk are [rad/s
© Technosoft 2011
=
on [ SI ]
×
No _ encoder
4
42
is:
=
Load _ Jerk [ SI ]
×
4
Encoder
=
Load _ Jerk [ SI ]
3
] for a rotary movement, [m/s
× π
2
×
2
× ×
_ lines Tr T
× π
2
×
No _ encoder _ lines
_ accuracy
×
Motor
3
×
Tr T
3
] for a linear movement
84
Motor _ Accelerati on [ IU
3
i.e. the acceleration
3
. The correspondence
×
Motor _ Jerk [
3
×
Tr T
_ Jerk [ IU ]
3
. The motor is rotary and
IDMx40 Technical Reference
]
IU ]