Lenze 931K - Manual (Page 113)

Operating modes
Synchronous position selection
Overview
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113 KHB 13.0002−EN 4.1
9.5 Synchronous position selection
9.5.1 Overview
The interpolated position mode (IP) enables the selection of position setpoints for
multi−axis drive controller applications. For this purpose, a master provides
synchronisation telegrams (sync) and position setpoints on a fixed time base
(synchronisation interval).
Since the interval usually is larger than a position controller cycle, the drive controller
independently interpolates the data values between two given position values as shown
in the below graph.
t
T
1
T
2
0
931e_409
Fig. 24 Travel task: Linear interpolation between two data values
0 Position setpoints
t
1
Position control interval
t
2
Synchronisation interval
° Position setpoints specified by the control (ip_data_position)
¯ Interpolated position values