Control Techniques UD70, User Manual

Page: 34 / 154

UD70
Issue code: 70nu2
4-12 DPL programming
ENCODER task
The
ENCODER
task is primarily used to monitor the activity of an encoder.
The
ENCODER
task is synchronized to the
SPEED
task within the Drive, and is
executed every fourth
SPEED
task cycle. Actual execution frequency of the
task is determined by the switching frequency selected.
Drive. A set-up parameter can be used to multiply the time by two.
Drive Switching
frequency
ENCODER task
timebase
kHz ms
Unidrive 3, 6 or 12 5.52
Unidrive 4.5 or 9 7.36
Example
ENCODER{
new
_
master
_
pos% = #90.1
new
_
slave
_
pos% = #90.3
master _ pos _ change% = new _ master _ pos% – old _ master _ pos%
slave
_
pos
_
change% = new
_
slave
_
pos% – old
_
slave
_
pos%
EPOS = EPOS + master _ pos _ change% – slave _ pos _ change%
old
_
master
_
pos% = new
_
master
_
pos%
old
_
slave
_
pos% = new
_
slave
_
pos%
}
SPEED task
The
SPEED
task is synchronized to the speed control loop in the Unidrive, so
the execution frequency of the task is determined by the switching
frequency selected.
Drive Switching
frequency
SPEED task
timebase
ms kHz
Unidrive 3, 6 or 12 1.38
Unidrive 4.5 or 9 1.84