Technosoft iPOS360x MX, Technical Reference, Page: 103 / 116

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Technosoft 2013 91 iPOS360x MX Technical Reference
The internal acceleration units are interpolated encoder counts / (slow loop sampling period)
2
. The
correspondence with the load acceleration in SI units 1 is:
For rotary motors:
] IU [ on Accelerati _ Motor
T Tr ion Interpolat periods _ Enc
] SI [ on Accelerati _ Load

   
 

2
4
2
For linear motors:
] IU [ on Accelerati _ Motor
T Tr ion Interpolat
accuracy _ Encoder
] SI [ on Accelerati _ Load

 

2
where:
Enc_periods
–
is the rotary encoder number of sine/cosine periods or lines per revolution
Encoder_accuracy
–
is the linear encoder accuracy in [m] for one sine/cosine period
Interpolation
–
is the interpolation level inside an encoder period. Its a number power of 2
between 1 an 256. 1 means no interpolation
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
2
is:
] IU [ Jerk _ Motor
T Tr lines _ encoder _ No
] SI [ Jerk _ Load

  
 

3
4
2
where:
No_encoder_lines
–
is the rotary encoder number of lines per revolution
1
SI units for acceleration are [rad/s
2
] for a rotary movement, [m/s
2
] for a linear movement
2
SI units for jerk are [rad/s
3
] for a rotary movement, [m/s
3
] for a linear movement