July 2013 6.8 The control loop 811
There is a separate time interval for each control loop:
Position controller cycle time: Time interval during which the interpolation
points on the path are calculated.
Speed controller cycle time: Time interval in which the actual speed value is
compared to the calculated nominal speed value.
Current controller cycle time: Time interval in which the actual current value
is compared to the calculated nominal current value.
The cycle times that apply vary depending on the CC used or the CC’s
settings.
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