Page 57
5.2.12 Contouring control with linear interpolation
The implementation of the Interpolated Position Mode allows setting position values in a multi-axis
application of the servo drive. For that purpose set position values are provided by a superordinated
control at a fixed time pattern (synchronisation interval). If this interval exceeds a position control
cycle, the servo drive autonomously interpolates the data values between two set position values, as
shown in the following illustration. The servo drive also calculates a corresponding speed feed
forward.
y
t
t : synchronisation interval
s y n c
t
P
t
P
: Setposition, intern interpolated
: Interpolation data
: Cycle time position control / positioning
: Interpolated (reference value)characteristic of the position
: Driven characteristic of the position (actual value)
t
p
Figure 3: Linear interpolation between two data values
5.2.13 Time-synchronized multi-axis positioning
The implementation of the clock synchronisation allows simultaneous movements for multi-axis
applications in conjunction with “interpolated positioning mode”. All ARS 2100 SE series servo drives,
that is the entire controller cascade, will be synchronized to the external clock signal. Pending
positioning values in the case of multiple axes are then taken over and executed simultaneously
without jitter. The sync message of a CAN bus system can for example be used as a clock signal.
That way it is for example possible to send several axes with different path lengths and velocities to
the destination at the same time.
Product Manual „Servo drives ARS 2100 SE“ Version 5.0
To Next Page
Loading...
Need help?
General
