Technosoft IPS110, Technical Reference

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Technosoft 2007 67 IPS110 Technical Reference
6.12.2. Stepper motor open-loop control. No feedback device or incremental
encoder on load
The internal motor speed units are motor µsteps / (slow loop sampling period). The
correspondence with the motor
speed in SI units
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is:
] IU [ Speed _ Motor
T steps _ No steps _ No
] SI [ Speed _ Motor
×
× × μ
π ×
=
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.
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”
6.12.3. Stepper motor closed-loop control. Incremental encoder on motor
The internal motor speed units are motor encoder counts / (slow loop sampling period). The
correspondence with the load speed in SI units is:
] IU [ Speed _ Motor
T lines _ encoder _ No
] SI [ Speed _ Motor
×
× ×
π ×
=
4
2
where:
No_encoder_lines – is the motor 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”.
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SI units for motor speed are [rad/s] for a rotary motor, [m/s] for a linear motor