Technical data

Appendix
CPU 317T: Technology Functions
A-26 A5E00251798-03
Extrapolation and filtering with actual value coupling
Creating axes with setpoint / actual value coupling
Setpoint or actual value coupling is set when the control value is configured at the
synchronization object.
Possible settings based on the source of the manipulated value:
• A physical axis: Setpoint coupling (default) /actual value coupling with
extrapolation
• A virtual axis: Setpoint coupling (default) / actual value coupling with
extrapolation (an extrapolated setpoint can be set here, because the actual
value for a virtual axis is set to be equal to the setpoint value)
• External encoder: Actual value coupling (default) /actual value coupling with
extrapolation
Coupling with external encoder
Two coupling modes are available for external encoders:
• Coupling without extrapolation
• Coupling with extrapolation
Display
The extrapolated values and the filtered velocity value are indicated in these
system variables:
• extrapolationData.position
• extrapolationData.velocity
• extrapolationData.filteredvelocity
Actual value smoothing
Data recording is based on the position controller cycle. The calculation of further
data is based on these data, for example the velocity. These derived variables are
calculated based on the position controller cycle or the interpolator cycle. All
system variables under sensordata are calculated within the position control cycle,
those under motionstatedata (or motionstate for the external encoder) within the
IPO cycle.
The velocity values sensordata[1].velocity (or sensordata.velocity for the external
encoder) and motionstatedata.actualvelocity (or motionstate.velocity for the
external encoder) are determined in the relevant cycle.
A PT1 filter can be used to smooth data.
The TypeOfAxis.NumberOfEncoders.Encoder_1.Filter (or
TypeOfAxis.Encoder_1.Filter for the external encoder) configuration data here refer
to the velocity that is calculated within a position control cycle.