User's Manual

HARSFEN0602
-4 -2 0 2 4
x 10
4
-4
-3
-2
-1
0
1
2
3
4
x 10
4
Nominal ellipse
Ellipse PVT points
Motion starts and teminates here
The next figure takes a closer look at the error between the true ellipse and the Amplifier interpolated path.
0 500 1000 1500 2000 2500
0
1
2
3
4
5
6
7
8
Difference
(counts)
msec
We observe that with 23 PVT points only, the interpolated path never differs from the original ellipse by
more than 8 counts (remember that the ellipse axes are 100000 and 50000 counts respectively)!
At the PVT points, the interpolation error is zero.