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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”.
6.2.7.
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:
Load _ Speed[SI] =
2× π
× Motor _ Speed[IU]
4 × Enc _ periods × Interpolat ion × Tr × T
For linear motors:
Load _ Speed[SI] =
Encoder _ accuracy
× Motor _ Speed[IU]
Interpolation × Tr × T
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”
6.3. 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:
Load _ Acceleration[SI] =
2× π
4 × No _ encoder _ lines × Tr × T 2
× Motor _ Acceleration[IU]
where:
No_encoder_lines – is the rotary encoder number of lines per revolution
© Technosoft 2011
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iPOS360x VX Technical Reference