Technosoft IBL2403-CAN - Stepper Motor Open-Loop Control. Incremental Encoder on Load; Speed Units; Brushless; DC Brushed Motor with Quadrature Encoder on Motor; Brushless Motor with Linear Hall Signals

© Technosoft 2007 64 IBL2403 Technical Reference
6.1.5. Stepper motor open-loop control. Incremental encoder on load
The internal position units are load encoder counts. The transmission is rotary-to-rotary. The
correspondence with the load position in SI units is:
]IU[Position_Load
lines_encoder_No
]SI[Position_Load ×
×
π×
=
4
2
where:
No_encoder_lines – is the rotary encoder number of lines per revolution
Tr – transmission ratio between the motor displacement in SI units and load displacement in SI
units
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 is:
]IU[Speed_Motor
TTrlines_encoder_No
]SI[Speed_Load ×
×××
π×
=
4
2
where:
No_encoder_lines – is the rotary 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”
6.2.2. Brushless motor with linear Hall signals
The internal speed units are counts / (slow loop sampling period). The motor is rotary. The
position resolution i.e. number of counts per revolution is programmable as a power of 2 between
512 and 8192. By default it is set at 2048 counts per turn. The correspondence with the load
speed in SI units is:
For rotary motors:
]IU[Speed_Motor
TTrresolution
]SI[Speed_Load ×
××
π×
=
2
For linear motors:
Pole_Pitch
Load_Speed[SI] = ×Motor_Speed[IU]
resolution×Tr ×T