Renesas RA6T2 Application Note page 29

RA6T2
Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder
3.1.7.2 Speed calculation using encoder at high speed
When using the encoder during high-speed rotation, the speed is calculated from the number of input
pulses in the control cycle.
Phase A
Phase B
Control period
Time[s]
2π Count
Motor Rotation Speed[rad/s] = ( ) / ( )
Count Per Rotation Control period
Figure 3-8 Speed calculation using encoder at high speed
R01AN6208EJ0101 Rev.1.01 Page 29 of 71
Oct 18, 2022