© Technosoft 2007 68 IBL2403 Technical Reference
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”
Pole_Pitch – is the magnetic pole pitch NN (distance expressed in [m])
6.3.3. DC brushed motor with quadrature encoder on load and tacho on motor
The internal acceleration units are encoder counts / (slow loop sampling period)
2
. The motor is
rotary and the transmission is rotary-to-rotary. The correspondence with the load acceleration in
SI units is:
]IU[onAccelerati_Load
Tlines_encoder_No
]SI[onAccelerati_Load ×
××
π×
=
2
4
2
where:
No_encoder_lines – is the encoder number of lines per revolution
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”
6.3.4. Stepper motor open-loop control. No feedback device
The internal acceleration units are motor µsteps / (slow loop sampling period)
2
. The
correspondence with the load
acceleration in SI units
is:
]IU[onAccelerati_Motor
TTrsteps_Nosteps_No
]SI[onAccelerati_Load ×
×××μ
π×
=
2
2
where:
No_steps – is the number of motor steps per revolution
No_µsteps – is the number of microsteps per step. You can read/change this value in the “Drive
Setup” dialogue from EasySetUp.
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”
6.3.5. Stepper motor open-loop control. Incremental encoder on load
The internal acceleration units are load encoder counts / (slow loop sampling period)
2
. The
correspondence with the load acceleration in SI units is:
For rotary-to-rotary transmission:
]IU[onAccelerati_Load
Tlines_encoder_No
]SI[onAccelerati_Load ×
××
π×
=
2
4
2
For rotary-to-linear transmission:
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