Lenze E94AxPExxxx - Manual (Page 328)

9 I/O terminals
9.7 Touch probe detection
328
Lenze · 9400 Servo PLC· Reference manual · DMS 4.0 EN · 11/2013 · TD05/06
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9.7.1 Actual value interpolation (principle)
If a touch probe is detected, the (remaining) time until the following task cycle is determined and
from this a time stamp is generated. On the basis of this time stamp, the L_SdTouchProbe FB can
then carry out a linear interpolation between the two actual position interpolation points; the result
is the precise actual position at the time of the physical touch probe event.
[9-3] Actual value determination through linear interpolation (principle)
 Actual position point 1
 Actual position point 2
 Residual time (dnTouchProbeTimeLag)
Data
processing
Application
Data
processing
Application
Data
processing
Application
Task cycle Task cycle Task cycle
t
Position
t
0
Œ 
t
1
p
1
p
2
Touch probe received