Interpolation Testing (Omron NJ301 and Copley Controls TE2)
Автор: Copley Controls
Загружено: 2025-03-05
Просмотров: 217
Описание:
This video tests making moves in CSP mode with interpolation turned off and then on in the Copley Controls servo drive. Turn on interpolation to smooth the trajectory.
Commanded positions are sent by the Omron EtherCAT controller every 1 millisecond. Instead of simply matching this profile, the interpolation feature of the Copley Controls servo drive is used to generate new commanded positions every 250 microseconds. The discontinuity of the profile decreases, producing a smoother, more linear profile.
DS402 CANopen object 0x60C2 is the Interpolation Time Period. If the EtherCAT network is updated every 1 millisecond, set 0x60C2 sub-index 1 to a value of 1 and 0x60C2 sub-index 2 to a value of -3 (0xFD in hex). That's 1*10^-3 seconds or 1 millisecond.
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