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If the cycle time of the task class in which a function block is being executed is greater than the drive's cycle time, then the setpoint transferred from the controller to the drive will be interpolated there with the defined "InterpolationMode".
With mcIPL_OFF (0) or when the input is open, interpolation of the received data is switched off.
For linear interpolation (default setting on the drive), mcIPL_LINEAR must be specified explicitly.
Description |
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Tm |
Master cycle time or network cycle time [µs] |
Ta |
Controller cycle time: 400 µs for ACOPOS, task class cycle for ACP10SDC and ACP10SIM |
This mode can be used if the master cycle directly matches the controller cycle or to transfer pure bit information and status data.
This mode can be used for signals that absolutely must remain constant to the first derivative, e.g. for positions. The delay is increased by the master cycle minus the controller cycle (Tm – Ta).
This mode can be used for signals that absolutely must remain constant to the second derivative, e.g. for the cyclic input on the setpoint generator. The deceleration time at constant speed is the same as for mode mcIPL_LINEAR (Tm – Ta).
This mode can be used for signals that absolutely must remain constant to the second derivative, e.g. for the cyclic input on the setpoint generator. No transient reactions occur, even with large acceleration values. At a constant velocity, however, the delay is increased to (Tm – Ta + (Tm – Ta)/2).