Control Techniques UD70 User Manual

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.

Control Techniques UD70 Specifications

General

Brand	Control Techniques
Model	UD70
Category	Control Unit
Language	English