Example VI Using Interpolated Position Mode on a Maxon EPOS2 controller

[Dave@Ventec]

Can anyone share a VI that makes use of teh Spline Interpolation Mode (PVT) on a Maxon EPOS2 controller?  I have experience using Profile Position Mode with LabVIEW but Interpolation is completely new to me - any guidance would be appreciated!

Regards,

David

[Burrito]

Hi Dave,

Here is a LabVIEW Spline Interpolation example. It was written in LV 6.1 but it should still open in newer versions.

Also, here is some documentation on modes of operation, and here is a manual I was able to find from Maxon dealing with Interpolation Mode on the EPOS2.

Hopefully this information is somewhat helpful for you.

[CarlosUT]

Hey Dave,

I have been working on the IPM for a while now, but I am stuck on how to get farther. I am pretty much running what you have. I was wondering where you able to get any farther in your attempts at doing this. If so can you lead me in the right direction, I have the position, velocity, and time arrays, but I just can seem to put it into the right format for the IPM. Thanks ahead.

Carlos

[Dave@Ventec]

Carlos,

Well bottom line is that the Interpolated Position mode doesn't work properly - at least from my point of view.  Also confirmed by Maxon's national technical support guy.  The rub is that the function takes velocity to ZERO at each interpolation point - yes really.  Use the free EPOS software open the Interpolated Position Wizzard and put a few of your point in - check out the resulting anticipated plots.  UGH.

So my work arround is to use the Profile Position Mode which will allow you to update velocity and acceleration.  AS LONG AS you give it the same final position each time the desired move can be achieved - in my case these are all straight line moves.

Hope that is of some help,

Dave

[CarlosUT]

Dave,

Thank you, that kinda sucks in my point of view I though I would have been able to do that. So they are not planning on fixing that...do you know? I guess my question is now can we input an array of position, velocity, and acceleration all at the same time an have it loop through at every point without having just final position a and b, but a array of points in between. But then I got a problem with the deceleartion of the point. I have used the EPOS program but I wanted the ability to input position functions directly and the program does not let me due that, just the points themselves.

Now I have to figure out something else to do. But thank you for responding.

Carlos

[CarlosUT]

NVM it doubled up.

[Dave@Ventec]

Carlos,

Right now their Interpolation is only spline which is part of the issue - linear is in the works but I have no idea when it will be available.

Best,

David