Parker Hannifin S.p.A. Divisione S.B.C. user’s manual TWIN-N and SPD-N
178
12 Appendix B: Conventions
Reference Positive
Motor shaft movement
(motor shaft view)
Torque Positive
Resolver counter Increments
Encoder output A
B
Tachometer signal Positive
Iu
)
sin
couple
Iv
⎟
⎞
⎜
⎛
•
+•
3
2
sin
π
ϑ
couple
Positive auxiliary input Pr22 positive
Encoder In. A Increment counter
B
13 Appendix C: Software timing
Period Task
64 μs
Current control
128 μs
Speed control
Torque limits control
Speed reference management
512 μs
Braking resistor management
FIN management
6.144 ms Thermal motor image
Digital inputs
Program scanning pico-PLC
Digital outputs
49.152 ms Speed window management
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