Technosoft IPS110, Technical Reference

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Technosoft 2007 60 IPS110 Technical Reference
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
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”.
6.3. Acceleration units
The internal acceleration units are internal position units / (slow loop sampling period)
2
i.e. the
speed variation over one slow loop sampling period.
6.3.1. DC brushed motor with quadrature encoder on motor
The internal acceleration units are encoder counts / (slow loop sampling period)
2
. The
correspondence with the load
acceleration in SI units
24
is:
] IU [ on Accelerati _ Motor
T Tr lines _ encoder _ No
] SI [ on Accelerati _ Load
×
× × ×
π ×
=
2
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”
6.3.2. Stepper motor open-loop control. No feedback device
The internal acceleration units are motor µsteps / (slow loop sampling period)
2
. The
correspondence with the load
acceleration in SI units
25
is:
] IU [ on Accelerati _ Motor
T Tr steps _ No steps _ No
] SI [ on Accelerati _ Load
×
× × × μ
π ×
=
2
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
24
SI units for acceleration are [rad/s
2
] for a rotary movement, [m/s
2
] for a linear movement
25
SI units for acceleration are [rad/s
2
] for rotary movement, [m/s
2
] for linear movement