Technosoft IBL2403-CAN - Stepper Motor Closed-Loop Control. Incremental Encoder on Motor; Jerk Units; Brushless; DC Brushed Motor with Quadrature Encoder on Motor

© Technosoft 2007 69 IBL2403 Technical Reference
]IU[onAccelerati_Load
T
accuracy_Encoder
]s/m[onAccelerati_Load ×=
2
2
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”.
6.3.6. Stepper motor closed-loop control. Incremental encoder on motor
The internal acceleration units are motor encoder counts / (slow loop sampling period)
2
. The
transmission is rotary-to-rotary. The correspondence with the load
acceleration in SI units is:
]IU[onAccelerati_Motor
TTrlines_encoder_No
]SI[onAccelerati_Load ×
×××
π×
=
2
4
2
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)
3
i.e. the acceleration
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)
3
. The correspondence
with the load
jerk in SI units
29
is:
]IU[Jerk_Motor
TTrlines_encoder_No
]SI[Jerk_Load ×
×××
π×
=
3
4
2
where:
No_encoder_lines – is the rotary encoder number of lines per revolution
29
SI units for jerk are [rad/s
3
] for a rotary movement, [m/s
3
] for a linear movement