Encoders

All response times must be multiplied by the factor 1.002.

Encoder error response time (for all encoders)

Calculation factor (formula symbol)

Calculation specification response time

Deactivation F-DO_STO/F-DO00

8 ms

Setting fault status F-PI

12 ms

EI7C built-in encoder

Calculation factor (formula symbol)

Calculation specification response time

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

Encoder with MOVILINK® DDI

Calculation factor (formula symbol)

Calculation specification response time

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)