The values of co02 have the following meaning:
Resolution 13 Bit = 1/8192 rpm
Resolution 6 Bit = 1/64 rpm
Resolution 12 Bit = 1/4096 rpm
Resolution 5 Bit = 1/32 rpm
Resolution 11 Bit = 1/2048 rpm
Resolution 4 Bit = 1/16 rpm
Resolution 10 Bit = 1/1024 rpm
Resolution 3 Bit = 1/8 rpm
Resolution 9 Bit = 1/512 rpm
Resolution 2 Bit = 1/4 rpm
Resolution 8 Bit = 1/256 rpm
Resolution 1 Bit = 1/2 rpm
Resolution 7 Bit = 1/128 rpm
Internally all speed values with a resolution of 1/8192 rpm are displayed.
The following objects of the defined resolution in co02 are adapted in all operating
modes. 0x606B velocity demand und 0x2120, 0x606c st32 velocity actual value.
4.8.6.3 Interpolator
Then the speed setpoints are interpolated to the cycle time of the internal control
grid. The used method can be selected via the object co11.
The values of co11 have the following meaning:
Linear interpolation between the last two values
Direct acceptance of the setpoint
B-spline interpolation via the last n points
Initialization with actual values
Initialization with setpoints
The interpolation results in a signal delay, which is calculated as follows:
Deceleration = cycle time (fb10) * (number of calculation points (co11) – 1)
Example:
With a cycle time of 2ms and B-spline interpolation of 4 points, there is a delay of
2ms * (4-1) = 6ms.
Additionally to the interpolated speed setpoint, the speed interpolator also gener-
ates the corresponding torque profile.
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