©
Technosoft 2007
62
IPS110 Technical Reference
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. 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
is:
]
IU
[
Jerk
_
Motor
T
Tr
lines
_
encoder
_
No
]
SI
[
Jerk
_
Load
×
×
×
×
π
×
=
3
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”
6.4.2. Stepper 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
is:
]
IU
[
Jerk
_
Motor
T
Tr
steps
_
No
steps
_
No
]
SI
[
Jerk
_
Load
×
×
×
×
μ
π
×
=
3
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
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”
27
SI units for jerk are
[rad/s
3
] for a rotary movement, [m/s
3
] for a linear movement
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