Technosoft iPOS360x MX, Техническое описание, Страница: 100 / 116


Technosoft 2013 88 iPOS360x MX Technical Reference
6.3. Acceleration units
The internal acceleration units are internal position units / (slow loop sampling period)
2
i.e. the speed
variation over one slow loop sampling period.
6.3.1. Brushless / DC brushed motor with quadrature encoder on motor
The internal acceleration units are encoder counts / (slow loop sampling period)
2
. The
correspondence with the load acceleration in SI units is:
] IU [ on Accelerati _ Motor
T Tr lines _ encoder _ No
] SI [ on Accelerati _ Load

  
 

2
4
2
where:
No_encoder_lines
–
is the rotary 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”
6.3.2. Brushless motor with linear Hall signals
The internal acceleration units are counts / (slow loop sampling period)
2
. The motor is rotary. The
position resolution i.e. number of counts per revolution is programmable as a power of 2 between
512 and 8192. By default it is set at 2048 counts per turn. The correspondence with the load
acceleration in SI units
1
is:
For rotary motors:
] IU [ on Accelerati _ Motor
T Tr resolution
] SI [ on Accelerati _ Load

 
 

2
2
For linear motors:
1
SI units for acceleration are [rad/s
2
] for a rotary movement, [m/s
2
] for a linear movement