Control Techniques UD70 User Manual page 79

ENCODER task
A typical use for the
The
ENCODER
Unidrive, and is executed at every fourth
execution frequency of the task is determined by the PWM switching
frequency.
PWM switching
frequency
kHz
3, 6 or 12
4.5 or 9
Example ENCODER{
master% = #90.2
slave% = #90.4
EPOS = EPOS + master% – slave%
}
EVENT task
The
EVENT
The source of the event is determined by the Timer/Counter Unit.
Refer to Timer/Counter Unit in Chapter 8 Features for further information.
ERROR task
The
ERROR
Refer to section Advanced error-handling in Chapter 9 Diagnostics for
further information.
UD70
Issue code: 70nu2
task is to monitor the activity of an encoder.
ENCODER
task is synchronized with the speed-control loop in the
ENCODER task
timebase
ms
5.52
7.36
task is a special task which runs when a specific event occurs.
task is executed when a run-time error occurs in a DPL program.
task cycle. Actual
SPEED
Reference 7-3