© Technosoft 2011 83
IDMx40 Technical Reference
]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:
]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
41
is:
41
SI units for acceleration are [rad/s
2
] for rotary movement, [m/s
2
] for linear movement
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