Technosoft IDM240-5EI - Stepper Motor Closed-Loop Control. Incremental Encoder on Motor; Acceleration Units; Brushless; DC Brushed Motor with Quadrature Encoder on Motor

© Technosoft 2011 81 IDMx40 Technical Reference
6.2.6. Stepper motor closed-loop control. Incremental encoder on motor
The internal speed units are motor encoder counts / (slow loop sampling period). The
correspondence with the load speed in SI units
38
is:
]IU[Speed_Motor
TTrlines_encoder_No
]SI[Speed_Load ×
×××
π×
=
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”.
6.3. Acceleration units
The internal acceleration units are internal position units / (slow loop sampling period)
2
i.e. the
speed variation over one slow loop sampling period.
6.3.1. Brushless / DC brushed motor with quadrature encoder on motor
The internal acceleration units are encoder counts / (slow loop sampling period)
2
. The
correspondence with the load acceleration in SI units
39
is:
For rotary motors:
]IU[onAccelerati_Motor
TTrlines_encoder_No
]SI[onAccelerati_Load ×
×××
π×
=
2
4
2
For linear motors:
]IU[onAccelerati_Motor
TTr
accuracy_Encoder
]SI[onAccelerati_Load ×
×
=
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
38
SI units for speed are [rad/s] for a rotary movement , [m/s] for a linear movement
39
SI units for acceleration are [rad/s
2
] for a rotary movement, [m/s
2
] for a linear movement