Fieldbus
Interpolator
x
x
x
v
a
x
Controller
v
a
j = 0
M = 0
I = 0
Ipo algorithm
4. order
j
Fig. 50 CSP operation without external pilot control
The following graph shows an example of the input and output values for the interpolator in straight
CSP operation with velocity and torque pilot control values.
Fieldbus
Interpolator
x
v
M
x
x
v
v
M
M
x
Controller
v
a = 0
j = 0
M
I = 0
Ipo algorithm
2. order
Ipo algorithm
2. order
Ipo algorithm
2. order
Fig. 51 CSP operation with external velocity and torque pilot control (CSP-VT)
Motion control
228
Festo — CMMT-ST-SW — 2019-02
Summary of Contents for CMMT-ST-SW
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