Interpolation - Lenze i950 Commissioning Manual

Address Name / setting range / [default setting]
0x6067 Position window
0 ... [1000] ... 4294967295 pos. unit
0x6068 Position window time
0 ... [0] ... 0 ms
9.1.2

Interpolation

When you select an operating mode with cyclic setpoint selection, all setpoints are first led via
interpolators which divides down setpoint step-changes of the bus cycle to the cycle time of
the control loops.All interpolators together are parameterised via
time period value ).
Parameter
Address Name / setting range / [default setting]
0x60C0 Interpolation sub mode select
-1 Quadratic Interpolation
0 Linear Interpolation
0x60C2:001 Interpolation time period : Interpolation time period
value
0 ... [1] ... 255
0x60C2:002 Interpolation time period : Interpolation time index
-6 ... [-3] ... 0
Info
Setting of the symmetrical tolerance window around the target position
(0x607A) for the target position detection.
If the actual position is within this tolerance window longer than the
time defined in
reached and bit 10 ("target position reached") is set in the CiA402 status
word (0x6041).
Setting of time monitoring for the target position detection.
0 ≡ the position in the target window is evaluated without a time delay.
0x60C2:001
Info
Setting of the interpolation algorithm.
Basic multiplier for the interpolation time interval.
Exponent for the interpolation time interval.
=
(0 60 2:002) x
t 0 60 2 : 001*10 x C
-
= = =
( 3)
t 1*10 s 0.001 s
Configure position control
0x6068 in [ms], the target position is deemed to be
( Interpolation
C
1 ms
Basic setting
Interpolation
133