Behavior models used in CIP Motion
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 29
The following diagram illustrates the interaction command generation behavior:
See also
Command Data Sources on page 29
Command Fine Interpolation on page 30
Command Ramp Generator on page 33
Feedforward Signal Selection on page 34
Command Notch Filter on page 35
Command data that impacts axis motion can come from a variety of sources. The
most common command data source is from a controller-based Motion Planner
using the CIP Motion C-to-D Connection. In this context, command data can
take the form of Controller Position, Velocity, Acceleration, and Torque
Commands generated by the Motion Planner. The command data elements
provided are specified by the Command Data Set attribute, which is based on the
selected Control Mode. The primary command data element can be augmented by
higher order command elements for the purposes of generating high quality
feedforward signals. Alternatively, these higher order command elements can be
derived by the device from the primary command data. In either case, a Fine
Command Interpolator is generally applied to the Command Data to generate
To Next Page
Loading...
Need help?
General
