Interpolating sequence of motions

Interpolating sequence of motions -
high intelligent drives guarantee exact trajectory driving.

Task: 5 m/s² at speed of 1 m/s, directly with a notched belt drive, with maximum trajectory error below 200 µm.

ECOSTEP®: " You need two ECOSTEP®200-ZA with 12 bit current control, a CANopen interface, a well chosen motor, a rigid mechanical system and the right partner. Then you will succeed!"  -  Potential buyer: "I don't believe that. Under maximum load, every motor has a torque ripple which actuates oscillations when directly coupled. These oscillations will lead to a trajectory error. Good motors with a ripple of less than 1 % at maximum load are very expensive. A further point is the inertia ratio load/motor which often does not permit for a high controller gain which however is necessary for trajectory driving. How do you intend to achieve this with conventional steppers?"

ECOSTEP®: "Of course the steppers to be used here have to be special microstep steppers. But you are right, this application has to be well devised. See, the controller gain would have to be high enough that trajectory deviations caused by torque ripple can be responded to at low speed. At high speed the ripple of the motor are damped by the low pass behavior of the mechanical system because of their high frequency. The problem of decoupling a two-mass system can only be solved by an expensive gear or by rising the mechanical rigidity."  -  Potential buyer: "How could I know whether my mechanical system meets that preconditions?"

ECOSTEP®: "At this point you should call our engineers. They can simulate the system behaviour in advance"