EPOS2: IPM - Interpolated Position Mode -> Configuration and calculation of PVT data sets

Topic:

• How does IPM (= Interpolated Position Mode) work in detail?
• What is important to take care about when IPM is in use?
• How can PVT data points be calculated in case of an existing function (e.g. sine wave)?
• How is the interpolation processed by IPM?
• Why there is a set of 3 data values (PVT) required for each curve (and not just 2)?

Solution:

Please note the attached documents (*.pdf) which hold basics but also detailed information und explanation of the following items concerning IPM (= Interpolated Position Mode):

• Technical background and basics about IPM (= Interpolated Position Mode)
• Configuration of IPM and limitations
• Calculation of PVT data sets (e.g. based on a sine curve motion)
• Potential pitfalls using IPM and defining PVT curve points
• Possible error states and recommended measures
• Summary of the most important points to keep in mind using IPM

Attached documents:

Please read the following (English or German) documents (*.pdf) and use the Excel sheet to simulate the influence of curve parameters concerning PVT data sets and resulting motion data (-> velocity, acceleration).

• ENGLISH_IPM-Practice_V1-10en.pdf:
  English documentation dealing in detail with the items mentioned above.
• DEUTSCH_IPM-Practice_V1-10de.pdf:
  German documentation dealing in detail with the items mentioned above.
• IPM_SineCalculation_No-Macros.xlsm:
  Excel sheet calculating the PVT data sets of a sine wave movement based on simple parameters (sine wave period, amplitude, delta-T, encoder resolution). Use the graphics to check the motion profile and the resulting maximum velocity and acceleration.
• IPM_SineCalculation_CSV-Export-Macro.xlsm:
  Identical excel sheet like "IPM_SineCalculation_No-Macros" but holding a macro to export the PVT data set as a *.csv file which can be imported by EPOS Studio's IPM tool then.

Please find the links of these documents and files at the end of this article.

More information required:

Please read the following chaoters of the EPOS2 manuals too:

• EPOS2 Firmware Specification.pdf:
  • Chapter 5.5 "Interpolation Position Mode"
• EPOS2 Application Notes Collection.pdf:
  • Chapter 6 "Interpolation Position Mode"