Technosoft iPOS4808 BX-CAN, Техническое описание

Страница: 104 / 107


Technosoft 2015 102 iPOS4808 BX-CAN Technical Reference
6.12.7. Brushless motor with sine/cosine encoder on motor
The internal motor speed units are interpolated encoder counts / (slow loop sampling period). The
correspondence with the motor speed in SI units is:
For rotary motors:
] IU [ Speed _ Motor
T ion Interpolat periods _ Enc
] SI [ Speed _ Motor
×
× × ×
π ×
=
4
2
For linear motors:
] IU [ Speed _ Motor
T ion Interpolat
accuracy _ Encoder
] SI [ Speed _ Motor
×
×
=
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”