Technosoft IDM240-5EI - Jerk Units; Brushless; DC Brushed Motor with Quadrature Encoder on Motor; DC Brushed Motor with Quadrature Encoder on Load and Tacho on Motor

© Technosoft 2011 84 IDMx40 Technical Reference
]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
42
is:
For rotary motors:
]IU[Jerk_Motor
TTrlines_encoder_No
]SI[Jerk_Load ×
×××
π×
=
3
4
2
For linear motors:
]IU[Jerk_Motor
TTr
accuracy_Encoder
]SI[Jerk_Load ×
×
=
3
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”
6.4.2. DC brushed motor with quadrature encoder on load and tacho on motor
The internal jerk units are encoder counts / (slow loop sampling period)
3
. The motor is rotary and
the transmission is rotary-to-rotary. The correspondence with the load jerk in SI units is:
42
SI units for jerk are [rad/s
3
] for a rotary movement, [m/s
3
] for a linear movement