Technosoft iPOS360x MX, Техническое описание, Страница: 99 / 116

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Technosoft 2013 87 iPOS360x MX Technical Reference
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

  
 

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”.
6.2.5. Brushless motor with sine/cosine encoder on motor
The internal speed units are interpolated encoder counts / (slow loop sampling period). The
correspondence with the load speed in SI units is:
For rotary motors:
] IU [ Speed _ Motor
T Tr ion Interpolat periods _ Enc
] SI [ Speed _ Load

   
 

4
2
For linear motors:
] IU [ Speed _ Motor
T Tr ion Interpolat
accuracy _ Encoder
] SI [ Speed _ Load

 

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”
1
SI units for speed are [rad/s] for a rotary movement , [m/s] for a linear movement