Encoders

All response times must be multiplied by the factor 1.002.

Calculation factor (formula symbol)

Calculation specification response time

EI7C built-in encoder:

  • Processing time encoder speed
  • (T_ENC_VEL)

3.5 × filter time speed (8708.4) + 1/n_actual + T_Task + T_Sys

  • Processing time encoder positioning
  • (T_ENC_POS)

T_Sys + T_Task

Response time encoder fault:

 

  • Deactivation F-DO_STO/F-DO00

8 ms

  • Setting fault status F-PI

12 ms

Encoder with MOVILINK® DDI:

  • Processing time encoder positioning
  • (T_ENC_POS)

TENC_POS = 9 ms

  • Processing time encoder speed
  • (T_ENC_VEL)

TENC_VEL = 9 ms + speed filter time (8708.3)

  • Processing time encoder acceleration
  • (T_ENC_ACC)

TENC_ACC = 9 ms + acceleration filter time (8708.2)