Speed

The speed calculation determines the average speed in the time range set via the filter time speed:

Quantization error_v in min-1 = 

(15 s x min-1) × scaling_factor_denominator / (scaling_factor_numerator x parameterized_filter_time)

Parameters involved (CSA31A):

• Scaling_factor_numerator:
• 8381.2 (encoder 1)
• 8382.2 (encoder 2)
• Scaling_factor_denominator:
• 8381.3 (encoder 1)
• 8382.3 (encoder 2)
• Parameterized_filter_time:
• 8708.3 (encoder 1)
• 8713.3 (encoder 2)

Parameters involved (CSS..A):

• Scaling_factor_numerator (= PPR count of the selected encoder):
• 8708.1 (encoder 1)
• Scaling_factor_denominator: 1
• The scaling factor is fixed based on the configured encoder type.
• Parameterized_filter_time:
• 8708.3 (encoder 1)

In addition to the process-related quantization error, there is an additional actual speed error of 0.3%:

Error_v_SinCos = Actual speed x 0.3% + Quantization error_v

The speed calculation for the encoder EI7C FS determines the average speed over the last 4 recorded encoder increments. The response time of the encoder evaluation is thus dependent on the actual speed. The error in the calculated speed value equals a maximum of 1% of the actual speed:

Error_v_EI7C FS = Actual speed x 1%

Setting the Filter time speed HTL (8708.4) parameter makes it possible to filter the calculated speed via a sliding average value filter with the parameterized length.