Technosoft IBL2403-CAN - Page 85

© Technosoft 2007 75 IBL2403 Technical Reference
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.
6.12.5. Stepper motor open-loop control. Incremental encoder on load
In open-loop control configurations with incremental encoder on load, the motor position is not
computed.
6.12.6. Stepper motor closed-loop control. Incremental encoder on motor
The internal motor position units are motor encoder counts. The correspondence with the motor
position in SI units is:
]IU[Position_Motor
lines_encoder_No
]SI[Position_Motor ×
×
π×
=
4
2
where:
No_encoder_lines – is the motor encoder number of lines per revolution
6.13. Motor speed units
6.13.1. Brushless / DC brushed motor with quadrature encoder on motor
The internal motor speed units are encoder counts / (slow loop sampling period). The
correspondence with the motor
speed in SI units is:
]IU[Speed_Motor
Tlines_encoder_No
]SI[Speed_Motor ×
××
π×
=
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”
6.13.2. Brushless motor with linear Hall signals
The internal motor 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 motor
speed in SI units is:
For rotary motors:
]IU[Speed_Motor
Tresolution
]SI[Speed_Motor ×
×
π×
=
2
For linear motors:
Pole_Pitch
Motor_Speed[SI] = ×Motor_Speed[IU]
resolution× T