Quadratic Interpolation - Kollmorgen Sercos II Translation Of The Original Manual

Appendix
4.14

Quadratic interpolation

Quadratic interpolation is used for "softer" evening out of target value jumps. The sercos
cycle time must be 500 µs and the position control must be used. The interpolation
method is then activated with IDNP 3040 = 1. With modulo it cannot be used.
An internal table with sinus-shaped trajectory is used as reference. Since the cycle time is
500µs and the cycle time of the internal position controller is 250µs, the target value is
only updated every second time.
red: Setpoint
green: interpolated
Setpoint
122
S_SETH
-8720
-7378 -8721
-7378 -8581
-5982 -8310
-5982 -7902
-4210 -7378
-4210 -6727
-2173 -5982
-2173 -5129
0 -4210
0 -3209
2173 -2173
2173 -1087
04/2016
4210 0
4210 1103
5982 2173
5982 3224
7378 4210
7378 5143
8310 5982
8310 6738
8721 7378
8721 7910
8583 8310
8583 8584
7906 8721
7906 8720
6733 8583
Kollmorgen
6733 8306
5136 7906
5136 7372
3217 6733
3217 5975
1095 5136
1095 4202
-1095 3217
-1095 2165
-3217 1095
-3217 -8
-5136 -1095
-5136 -2181
-6733 -3217
-6733 -4217
®
sercos for S300/S700
®