July 2013 6.8 The control loop 817
A nominal position value is acquired every 1.8 ms from the calculated velocity.
For linear interpolation:
s = nominal position value
s
o
= previous nominal position value
v = calculated velocity
Δt = cycle time
The nominal position value is resolved into the individual axis components,
depending on which axes have been programmed.
It may happen that the axes at first move past the target position and then
oscillate onto it. This overshoot behavior during acceleration and braking can
be influenced by a time constant:
In MP1521, define the time constant for the overshoot behavior.
Input value correct
Input value too small
Input value too large
Acceleration
(MP1060.x)
MP1521
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