Technosoft iPOS360x MX, Technical Reference, Page: 104 / 116

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Technosoft 2013 92 iPOS360x MX Technical Reference
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. Brushless motor with linear Hall signals
The internal jerk units are counts / (slow loop sampling period)
3
. The motor is rotary. The position
resolution i.e. number of counts per revolution is programmable as a power of 2 between 512 and
8192. By default it is set at 2048 counts per turn. The correspondence with the load acceleration in
SI units is:
For rotary motors: ] IU [ Jerk _ Motor
T Tr resolution
] SI [ Jerk _ Load

 
 

3
2
For linear motors:
3
Pole_Pitch
Load_Jerk[SI] = ×Motor_Jerk[IU]
resolution×Tr ×T
where:
resolution
–
is the motor position resolution
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”
Pole_Pitch
–
is the magnetic pole pitch NN (distance expressed in [m])
6.4.3. Step 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 1 is:
] IU [ Jerk _ Motor
T Tr steps _ No steps _ No
] SI [ Jerk _ Load

   
 

3
2
where:
1
SI units for jerk are [rad/s
3
] for a rotary movement, [m/s
3
] for a linear movement