©
Technosoft 2007
70
IBL2403 Technical Reference
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”
6.4.2. Brushless motor with linear Hall signals
The internal jerk units are counts / (slow loop sampling period)
3
. 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 is:
For rotary motors:
]
IU
[
Jerk
_
Motor
T
Tr
resolution
]
SI
[
Jerk
_
Load
×
×
×
π
×
=
3
2
For linear motors:
3
Pole_Pitch
Load_Jerk[SI] =
×Motor_Jerk[IU]
resolution× Tr × T
where:
resolution – is the motor position resolution
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”
Pole_Pitch – is the magnetic pole pitch NN (distance expressed in [m])
6.4.3. DC brushed motor with quadrature encoder on load and tacho on motor
The internal jerk units are encoder counts / (slow loop sampling period)
3
. The motor is rotary and
the transmission is rotary-to-rotary. The correspondence with the load jerk in SI units is:
]
IU
[
Jerk
_
Load
T
lines
_
encoder
_
No
]
SI
[
Jerk
_
Load
×
×
×
π
×
=
3
4
2
where:
No_encoder_lines – is the encoder number of lines per revolution
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”
Summary of Contents for IBL2403 Series
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