Technosoft IBL2403-CAN - Stepper Motor Open-Loop Control. no Feedback Device; Stepper Motor Open-Loop Control. Incremental Encoder on Load; Stepper Motor Closed-Loop Control. Incremental Encoder on Motor

© Technosoft 2007 71 IBL2403 Technical Reference
6.4.4. Stepper motor open-loop control. No feedback device
The internal jerk units are motor µsteps / (slow loop sampling period)
3
. The correspondence with
the load
jerk in SI units
30
is:
]IU[Jerk_Motor
TTrsteps_Nosteps_No
]SI[Jerk_Load ×
×××μ
π×
=
3
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”
6.4.5. Stepper motor open-loop control. Incremental encoder on load
The internal jerk units are load encoder counts / (slow loop sampling period)
3
. The transmission is
rotary-to-rotary. The correspondence with the load jerk in SI units is:
]IU[Jerk_Load
Tlines_encoder_No
]SI[Jerk_Load ×
××
π×
=
3
4
2
where:
No_encoder_lines – is the rotary 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”.
6.4.6. Stepper motor closed-loop control. Incremental encoder on motor
The internal jerk units are motor encoder counts / (slow loop sampling period)
3
. The
correspondence with the load jerk in SI units is:
]IU[Jerk_Motor
TTrlines_encoder_No
]SI[Jerk_Load ×
×××
π×
=
3
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
30
SI units for jerk are [rad/s
3
] for a rotary movement, [m/s
3
] for a linear movement