Technosoft IPS110, Technical Reference

Page: 77 / 84

©
Technosoft 2007 65 IPS110 Technical Reference
] IU [ position _ Master ×
lines _ encoder _ No × 4
π × 2
= ] rad [ position _ Master
where:
No_encoder_lines – is the master number of encoder lines per revolution
6.10. Master speed units
The master speed is computed in internal units (IU) as master position units / slow loop sampling
period i.e. the master position variation over one position/speed loop sampling period.
When the master position is an encoder, the correspondence with the international standard (SI)
units is:
] IU [ speed _ Master
T lines _ encoder _ No
] s / rad [ speed _ Master
×
× ×
π ×
=
4
2
where:
No_encoder_lines – is the master number of encoder lines per revolution
T – is the slave slow loop sampling period, expressed in [s]. You can read this value in the
“Advanced” dialogue, which can be opened from the “Drive Setup”.
6.11. Motor position units
6.11.1. DC brushed motor with quadrature encoder on motor
The internal motor position units are encoder counts. The correspondence with the motor
position in SI units
28
is:
] IU [ Position _ Motor
lines _ encoder _ No
] SI [ Position _ Motor
×
×
π ×
=
4
2
where:
No_encoder_lines – is the rotary encoder number of lines per revolution
6.11.2. Stepper motor open-loop control. No feedback device
The internal motor position units are motor µsteps. The correspondence with the motor
position
in SI units
is:
28
SI units for motor position are: [rad] for a rotary motor, [m] for a linear motor