Which products are affected?
9400 StateLine TA DS 402 FV 1.3.0
L-force Engineer
Function description
Up to now, the user has had the option to select a linear or a quadratic interpolation in code C01630 (index I-0x60C0). Option 11 has been added which can be used for differentiation first and then for linear interpolation.
Applications
If option 11 in code C01630 (index I-0x60C0) has been selected for interpolation and if the interpolated position mode has been set, the feedforward control setpoints for speed and acceleration will be generated in the DS 402 block. The position setpoint and the feedforward control setpoints are linearly interpolated to a cycle time of 500us each and fed to the position follower.
