Technosoft IPS110, Technical Reference, Page: 70 / 84

©
Technosoft 2007 58 IPS110 Technical Reference
6.1.3. Stepper motor closed-loop control. Incremental encoder on motor
The internal position units are motor encoder counts. The correspondence with the load
position
in SI units
21
is:
] IU [ Position _ Motor
Tr lines _ encoder _ No
] SI [ Position _ Load
×
× ×
π ×
=
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
6.1.4. Stepper motor open-loop control. Incremental encoder on load
The internal position units are load encoder counts. The transmission is rotary-to-rotary. The
correspondence with the load position in SI units is:
] IU [ Position _ Load
lines _ encoder _ No
] SI [ Position _ Load
×
×
π ×
=
4
2
where:
No_encoder_lines – is the rotary encoder number of lines per revolution
Tr – transmission ratio between the motor displacement in SI units and load displacement
in SI units
6.2. Speed units
The internal speed units are internal position units / (slow loop sampling period) i.e. the position
variation over one slow loop sampling period
6.2.1. DC brushed motor with quadrature encoder on motor
The internal speed units are encoder counts / (slow loop sampling period). The correspondence
with the load
speed in SI units
22
is:
] IU [ Speed _ Motor
T Tr lines _ encoder _ No
] SI [ Speed _ Load
×
× × ×
π ×
=
4
2
where:
No_encoder_lines – is the encoder number of lines per revolution
21
SI units for position are [rad] for a rotary movement , [m] for a linear movement
22
SI units for speed are [rad/s] for a rotary movement, [m/s] for a linear movement