45
item Controller BL 1-04 /C
― Product manual
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
x
= position controller cycle time (typically 200 µs with a current controller cycle time ti of 50 µs)
t
n
= speed controller cycle time (typically 100 µs with a current controller cycle time ti of 50 µs)
t
pwm
= half the cycle time of the PWM (corresponds to t
i
)
8.10.2 Time response of the digital outputs
position controller cycle time t
x
internal event
high
low
t
t
t
t
dig. output DOUT
high
low
output is set by the
firmware
t
DOUT, ON
t
HW, ON
t
RISE
t
HW, OFF
t
FALL
t
DOUT, OFF
high
low
Lorem ipsum
Figure 16: Filter time mechanism in the case of digital outputs
Parameter
Value
Delay caused by the firmware
t
DOUT_ON
/ t
DOUT_OFF
t
x
DOUT t
HW, ON
typically 100 µs
DOUT t
HW, OFF
typically 300 µs
t
RISE
typically 100 ms with 2 A and inductive load
t
FALL
typically 100 ms with 2 A and inductive load
t
x
= position controller cycle time (typically 200 µs with a current controller cycle time ti of 50 µs)
