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

© Technosoft 2011 88 IDMx40 Technical Reference
]IU[position_Master×
lines_encoder_No×4
π×2
=]rad[position_Master
where:
No_encoder_lines – is the master number of encoder lines per revolution
6.11. Master speed units
The master speed is computed in internal units (IU) as master position units / slow loop sampling
period i.e. the master position variation over one position/speed loop sampling period.
When the master position is an encoder, the correspondence with the international standard (SI)
units is:
]IU[speed_Master
Tlines_encoder_No
]s/rad[speed_Master ×
××
π×
=
4
2
where:
No_encoder_lines – is the master number of encoder lines per revolution
T – is the slave slow loop sampling period, expressed in [s]. You can read this value in the
“Advanced” dialogue, which can be opened from the “Drive Setup”.
6.12. Motor position units
6.12.1. Brushless / DC brushed motor with quadrature encoder on motor
The internal motor position units are encoder counts. The correspondence with the motor
position in SI units
44
is:
For rotary motors:
]IU[Position_Motor
lines_encoder_No
]SI[Position_Motor ×
×
π×
=
4
2
For linear motors:
]IU[Position_Motoraccuracy_Encoder]SI[Position_Motor ×=
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
6.12.2. DC brushed motor with quadrature encoder on load and tacho on motor
The motor position is not computed.
44
SI units for motor position are: [rad] for a rotary motor, [m] for a linear motor