How to convert from different motion units for position, velocity and torque

How to convert from different motion units for position, velocity and torque

Problem

I see that the torque/velocity/position parameters that the firmware of the drive uses can have different units and I don't understand the relationship between the different types nor how to convert from on to another. Where can I find these equations/conversion formulas between all these variables?

Solution

All the formulas that related the different units that can be used for torque/position/velocity registers can be found in the following links:
    • Related Articles

    • Which are the equations of the position/velocity/torque loops?

      Problem I am trying to get a dynamic model of the different motion loops of the Ingenia servo drives but I can't manage to figure out the exact equations of each loop. What are the exact equations and control schemes of each loop and what are the ...
    • Tuning of control loops: Position/Velocity Loops

      This manual explains how to tune the Position/Velocity loop using the Auto Tuning and how to the verify the tuning result.   This manual is written and verified up to the following versions: MotionLab Firmware 2.12.2 2.4.7 Auto-tuning is available ...
    • Can I read the position from 2 different encoders?

      In standard drives from the Ecore line (Pluto, Triton, Neptune, Jupiter, Nix and Titan) there is not the possibility to read the position of 2 different encoders at the same time. Therefore, if you have 2 encoders in your system (one on the motor ...
    • How to manually execute a profile torque movement by using the registers

      In this How-to guide, we will explain how to execute a movement (profile torque) by directly changing the register values, instead of using MotionLab or the dedicated macros for motion.  We will consider a movement towards a specific torque in this ...
    • How to manually execute a profile velocity movement by using the registers

      In this How-to guide, we will explain how to execute a movement (profile velocity) by directly changing the register values, instead of using MotionLab or the dedicated macros for motion.  We will consider a movement towards a specific velocity in ...