Technosoft PIM2401, Technical Reference

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Technosoft 2007 67 PIM2401 Technical Reference
] IU [ Speed _ Motor
T Tr steps _ No steps _ No
] SI [ Speed _ Load
×
× × × 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.
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”
Stepper motor open-loop control. Incremental encoder on load
The internal speed units are load encoder counts / (slow loop sampling period). The transmission
is rotary-to-rotary. The correspondence with the load speed in SI units is:
] IU [ Speed _ Load
T lines _ encoder _ No
] s / rad [ Speed _ 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 [rad] and load displacement in [rad] or
[m]
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”.
6.2.6. Stepper motor closed-loop control. Incremental encoder on motor
The internal speed units are motor encoder counts / (slow loop sampling period). The
correspondence with the load
speed in SI units
1
is:
] IU [ Speed _ Motor
T Tr lines _ encoder _ No
] SI [ Speed _ 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
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”.
1
SI units for speed are [rad/s] for a rotary movement , [m/s] for a linear movement