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- 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)?
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
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 documentation dealing in detail with the items mentioned above.
German documentation dealing in detail with the items mentioned above.
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.
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"