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ZABER TECHNOLOGIES INC.
Getting Started Guide
Many devices use lead screws or gearing to move the actuators
or stages, so a motor revolution will move the device a certain
distance. That distance can be divided by the number of
microsteps per revolution to get the distance moved per microstep.
This is the Microstep Size. The Microstep Size will vary from device
to device; the value for your device is available on our website
under the ‘Series Specs’ tab for each product.
Encoder Counts
Unlike stepper motors, servo motors are designed with force
control in mind; they can be driven using position control, but the
resolution is very coarse. To achieve fine-resolution positioning,
Zaber’s servo devices feature a variety of digital and analog
position encoders for feedback. An encoder count is the smallest
movement of the encoder that will be registered by the controller.
Speed and Acceleration
While microsteps (for stepper motor devices) or encoder counts
(for direct drive devices) are the increments of position on Zaber
devices, there are conversion factors required to calculate the
increments of speed and acceleration.
A spreadsheet is available for easy conversion:
www.zaber.com/ZaberSpeedSettings.xls
.
Make sure you are using the FW 6.xxx/7.xx tab. Enter the microstep
size or encoder resolution of your device into the spreadsheet to
easily convert from data to speed or acceleration, and vice versa,
in mm/s or mm/s².
speed (in microsteps or encoder counts/second) = Data / 1.6384
acceleration (in microsteps or encoder counts/second²) = Data / 1638.4
