6 Technical data
6.10.1
Time response of the digital inputs
The digital inputs are digitally filtered to improve the interference suppression.
The following illustration shows the filter time mechanism. In addition, the special reaction
to the "Positioning start" function is also shown. Although the signal is evaluated during
the position controller cycle t
x
the start of a movement will be performed within the
interpolation cycle time matrix t
p
.
Figure 37: Filter time mechanism in the case of digital inputs
Parameter
Max.
Maximum delay until the start of a position
set becomes active t
start
5 • t
x
+ t
p
Current rise time
(with current feedforward control)
t
n
+ t
i
+ t
pwm
t
i
= Current controller cycle time (typically 50 µs )
t
x
= position controller cycle time (typically 200 µs with a current controller cycle
time t
i
of 50 µs)
t
n
= speed controller cycle time (typically 100 µs with a current controller cycle time
t
i
of 50 µs)
t
pwm
= half the cycle time of the PWM (corresponds to t
i
)
Mounting Instructions BL 4000-M and BL 4000-D
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Summary of Contents for 9200-4104-2000
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