Technosoft iPOS360x MX, Техническое описание

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Technosoft 2013 94 iPOS360x MX Technical Reference
6.4.6. Brushless motor with sine/cosine encoder on motor
The internal jerk units are interpolated encoder counts / (slow loop sampling period) 3 . The
correspondence with the load jerk in SI units is:
For rotary motors:
] IU [ Jerk _ Motor
T Tr ion Interpolat periods _ Enc
] SI [ Jerk _ Load

   
 

3
4
2
For linear motors: ] IU [ Jerk _ Motor
T Tr ion Interpolat
accuracy _ Encoder
] SI [ Jerk _ Load

 

3
where:
Enc_periods
–
is the rotary encoder number of sine/cosine periods or lines per revolution
Encoder_accuracy
–
is the linear encoder accuracy in [m] for one sine/cosine period
Interpolation
–
is the interpolation level inside an encoder period. Its a number power of 2
between 1 an 256. 1 means no interpolation
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”
6.5. Current units
The internal current units refer to the motor phase currents. The correspondence with the motor
currents in [A] is:
] IU [ Current
Ipeak
] A [ Current



65520
2
where Ipeak
–
is the drive peak current expressed in [A]. You can read this valu
e in the “Drive Info”
dialogue, which can be opened from the “Drive Setup”.
6.6. Voltage command units
The internal voltage command units refer to the voltages applied on the motor. The significance of
the voltage commands as well as the scaling factors, depend on the motor type and control method
used.
In case of brushless motors driven in sinusoidal mode, a field oriented vector control is
performed. The voltage command is the amplitude of the sinusoidal phase voltages. In this case,
the correspondence with the motor phase voltages in SI units i.e. [V] is: