ElmoMC SimplIQ Digital Servo Drives-Bell Getting Started User Manual
Page 88
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The SimplIQ for Steppers Getting Started & Tuning and Commissioning Guide
MAN-BELGS (Ver. 1.1)
88
m
T
i
T
K
s
J
1
M
s
1
n
1
n
1
ML
c
ML
d
s
1
+
+
_
_
_
DL
T
L
θ
s
J
1
L
n
1
m
θ
+
+
+
+
Figure 81: Block diagram of a DC motor with flexible load
The transfer functions of (10) from current input,
i
, to motor and load angles,
M
θ
and
L
θ
, respectively, are
+
+
+
+
+
+
=
M
ML
L
ML
m
ML
L
ML
L
M
L
ML
L
ML
L
T
M
J
n
c
J
c
s
J
n
d
J
d
s
s
J
J
J
c
s
J
d
s
J
K
i
2
2
2
2
2
θ
(11)
(
)
+
+
+
+
+
=
M
ML
L
ML
m
ML
L
ML
L
M
ML
ML
L
T
L
J
n
c
J
c
s
J
n
d
J
d
s
s
J
J
s
d
c
J
K
i
2
2
2
2
θ
(12)
An example of the Bode and Nichols plots of the transfer function (11) and (12) are
given in Figure 82 and Figure 83 respectively.
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