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6.8.2 The Interpolator
December 2001
Schematic of the Interpolator:
The interpolator calculates a velocity every 3 ms from the programmed feed
rate. The value is also dependent on the acceleration curve and the end
position.
If more than one axis is moved simultaneously, the smallest acceleration value
applies.
You must adjust the velocity feedforward value to the dynamics of the
machine:
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With MP1060.x you define the acceleration or the steepness of the velocity
curve.
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In MP1090.x, you limit the jerk for the Program run full sequence and
Program run single block modes of operation. The jerk is the rate of
change in acceleration. The greater the entered value, the more the system
will tend to oscillate.
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Limit the axis-specific jerk with MP1097.x or MP1098.x. The machine-
parameter block to be used depends on the value entered in MP1095.x. If
MP1095.x = 0, MP1097.x is valid. If MP1095.x = 1, MP1098.x is valid.
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Use MP1087.x to limit the axis-specific jerk in Manual mode.
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Use MP1089.x to limit the axis-specific jerk in the Pass Over Reference
Point mode of operation. This is necessary if you want to brake or
accelerate faster in this operating mode than in other operating modes.
The Control Loop
6 – 113
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