© Technosoft 2007 10 IBL2403 Technical Reference
derivatives) refer to the load, while the same commands, expressed in IU units, refer to
the motor.
Figure 2.8. No position or speed feedback. Open-loop control: motor position or speed .
9. Closed-loop control of load position using an encoder on load, combined with open-
loop control of a 2 phase step motor in speed, with speed reference provided by the
position controller. The motion commands in both SI and IU units refer to the load.
Figure 2.9. Encoder on load. Closed-loop control: load position, open-loop control: motor speed
10. Closed-loop control of a 2-phase step motor in position, speed or torque. Scaling factors
take into account the transmission ratio between motor and load (rotary or linear).
Therefore, the motion commands expressed in SI units (or derivatives) refer to the load
1
,
while the same commands, expressed in IU units refer to the motor.
Figure 2.10. Encoder on motor shaft. Closed-loop control: motor position, speed or torque
1
Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1:1
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