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Master
_
where:
No_encoder_lines – is the master number of encoder lines per revolution
6.11. Master speed units
The master speed is computed in internal units (IU) as master position units / slow loop sampling
period i.e. the master position variation over one position/speed loop sampling period.
When the master position is an encoder, the correspondence with the international standard (SI)
units is:
Master
_
where:
No_encoder_lines – is the master number of encoder lines per revolution
T – is the slave 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. Motor position units
6.12.1. Brushless / DC brushed motor with quadrature encoder on motor
The internal motor position units are encoder counts. The correspondence with the motor
44
position 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
6.12.2. DC brushed motor with quadrature encoder on load and tacho on motor
The motor position is not computed.
44
SI units for motor position are: [rad] for a rotary motor, [m] for a linear motor
© Technosoft 2011
position
[
rad
]
=
4
×
No
=
speed
[
rad
/
] s
×
No
_
4
is:
=
Motor
_
Position
[
SI
]
=
Motor
_
Position
[
SI
]
2
×
π
×
Master
_
encoder
_
lines
×
π
2
×
Master
×
encoder
_
lines
T
×
π
2
×
No
_
encoder
_
lines
4
×
Encoder
_
accuracy
88
_
position
[
IU
]
_
speed
[
IU
]
×
Motor
_
Position
[
IU
Motor
_
Position
[
IU
]
IDMx40 Technical Reference
]
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