Control Techniques UD70, User Manual

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