Technosoft IDM240-5EI - Stepper Motor Open-Loop Control. no Feedback Device; Stepper Motor Open-Loop Control. Incremental Encoder on Load

© Technosoft 2011 85 IDMx40 Technical Reference
]IU[Jerk_Load
Tlines_encoder_No
]SI[Jerk_Load ×
××
π×
=
3
4
2
where:
No_encoder_lines – is the 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”
6.4.3. 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
43
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”
6.4.4. 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”.
43
SI units for jerk are [rad/s
3
] for a rotary movement, [m/s
3
] for a linear movement