Parker TPDM - 13 Appendix A: Conventions; 14 Appendix B: Software Timing

Parker Hannifin Manufacturing Srl user’s manual TPDM
177
13 Appendix A: Conventions
Reference
Positive
Motor shaft movement
(motor shaft view)
Torque
Positive
Feedback counter
Increments
Encoder output
A
B
Tachometer signal
Positive
Iu
( )
ϑ
sin
•couple
Iv






•
+•
3
2
sin
π
ϑ
couple
Encoder In. A
Increment counter
B
14 Appendix B: 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