Encoders

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))