Encoder

Deactivation F-DO_STO/F-DOx

8 ms

Setting fault status F-PI

12 ms

Processing time encoder positioning

(T_{_ENC_POS})

T_{_Sys} + T_{_Task}

Processing time encoder speed

(T_{_ENC_VEL})

Filter time speed (8708.3) + T_{_Task} + T_{_Sys}

Processing time encoder acceleration

(T_{_ENC_ACC})

Filter time acceleration (8708.2) + 2 × T_{_Task} + T_{_Sys}

Processing time encoder positioning

(T_{_ENC_POS})

T_{_Sys} + T_{_Task}

Processing time encoder speed

(T_{_ENC_VEL})

3.5 × 1/n_{_Actual} + T_{_Task} + T_{_Sys} + Filter time speed (8708.4)

Processing time encoder positioning

(T_{_ENC_POS})

T_{ENC_POS} = SSI frame rate × (SSI fault tolerance - SSI encoder (8713.51) + 1) + 9 × T_{_Task}

Processing time encoder speed without update time

(T_{_ENC_VEL})

T_{ENC_VEL} = SSI frame rate × (SSI fault tolerance + 2) + filter time speed (8708.3) + 9 × T_{_Task}

Processing time encoder acceleration without update time

(T_{_ENC_ACC})

T_{ENC_ACC} = SSI frame rate × (SSI fault tolerance + 3) + filter time acceleration (8708.2) + 9 × T_{_Task}

Processing time encoder speed with update time > 0

(T_{_ENC_VEL})

T_{ENC_VEL} = SSI frame rate × [round up (SSI refresh time + jitter / SSI frame rate) -1] + SSI frame rate × round up (filter time speed (8708.3) + SSI refresh time + jitter) / SSI frame rate + SSI frame rate × (SSI fault tolerance +1) + filter time speed (8708.3) + 9 × T_Task

Processing time encoder acceleration with update time > 0

(T_{_ENC_ACC})

T_{ENC_ACC} = SSI frame rate × [round up (SSI refresh time + jitter / SSI frame rate) -1] + 2 × SSI frame rate × round up [(0.5 × filter time acceleration (8708.2) + SSI refresh time + jitter) / SSI frame rate) + SSI frame rate × (SSI fault tolerance +1) + filter time acceleration (8708.2) + 9 × T_Task

Encoder 2:

• SSI frame rate = frame rate (8713.52)
• SSI fault tolerance = number of tolerated faults (8713.51)
• SSI refresh time = update time (8382.29)

Encoder 3:

• SSI frame rate = 1 ms
• SSI fault tolerance = number of tolerated faults (8714.51)
• SSI refresh time = update time (8599.29)

Jitter: 500 µs

Processing time encoder positioning

(T_{_ENC_POS})

T_{ENC_POS} = 9 ms

Processing time encoder speed

(T_{_ENC_VEL})

T_{ENC_VEL} = 9 ms + speed filter time (8708.3)

Processing time encoder acceleration

(T_{_ENC_ACC})

T_{ENC_ACC} = 9 ms + acceleration filter time (8708.2)

Processing time of encoder system positioning (T_{_ENC_POS_COMBINED})

• The following applies to a 1-encoder system:
• T_{ENC_POS_COMBINED} = T_{ENC_POS}
• For encoder systems in which the position value is calculated from the values of 2 encoders:
• T_{ENC_POS_COMBINED} = MAX (T_{ENC_POS} (encoder A), T_{ENC_POS} (encoder B))

Processing time of encoder system speed (T_{_ENC_VEL_COMBINED})

• The following applies to a 1-encoder system:
• T_{ENC_VEL_COMBINED} = T_{ENC_VEL}
• For encoder systems in which the speed value is calculated from the values of 2 encoders:
• T_{ENC_VEL_COMBINED} = MAX (T_{ENC_VEL} (encoder A), T_{ENC_VEL} (encoder B))

Processing time of encoder system acceleration (T_{_ENC_ACC_COMBINED})

• The following applies to a 1-encoder system:
• T_{ENC_ACC_COMBINED} = T_{ENC_ACC}
• For encoder systems in which the acceleration value is calculated from the values of 2 encoders:
• T_{ENC_ACC_COMBINED} = MAX (T_{ENC_ACC} (encoder A), T_{ENC_ACC} (encoder B))