4. Function overview
Festo P.BE-CMMP-AS-3A-HW-EN 0708NH
45
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
Fig. 4.4 Linear interpolation between two data values
4.3.9
Time-synchronised multi-axis positioning
In multi-axis applications using the "interpolated position mode", clock synchronisation
allows simultaneous motions. All the CMMP-AS servo positioning controllers, i.e. the entire
controller cascade, are synchronised to the external "clock" signal. Positioning values for
multiple axes are read and executed without jitter at the same time. For example, the Sync
message of a CAN bus system can be used as the "clock" signal.
This allows (e.g.) multiple axes with different path lengths and travel speeds to be moved
to their targets at the same time.
Summary of Contents for CMMP-AS-C2-3A
Page 2: ......