Technosoft IPS110, Техническое описание

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Technosoft 2007 61 IPS110 Technical Reference
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”
6.3.3. Stepper motor open-loop control. Incremental encoder on load
The internal acceleration units are load encoder counts / (slow loop sampling period)
2
. The
correspondence with the load acceleration in SI units is:
For rotary-to-rotary transmission:
] IU [ on Accelerati _ Load
T lines _ encoder _ No
] SI [ on Accelerati _ Load
×
× ×
π ×
=
2
4
2
For rotary-to-linear transmission:
] IU [ on Accelerati _ Load
T
accuracy _ Encoder
] s / m [ on Accelerati _ Load
× =
2
2
where:
No_encoder_lines – is the rotary encoder number of lines per revolution
Encoder_accuracy – is the linear encoder accuracy i.e. distance in [m] between 2 pulses
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”.
6.3.4. Stepper motor closed-loop control. Incremental encoder on motor
The internal acceleration units are motor encoder counts / (slow loop sampling period)
2
. The
transmission is rotary-to-rotary. The correspondence with the load
acceleration in SI units
26
is:
] IU [ on Accelerati _ Motor
T Tr lines _ encoder _ No
] SI [ on Accelerati _ Load
×
× × ×
π ×
=
2
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”
26
SI units for acceleration are [rad/s
2
] for rotary movement, [m/s
2
] for linear movement