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What is the difference among the "ipol", "servo", and "refma" tasks in the ABB IRC5 controller?

vweisis ✭

September 2020 in IRC5

Hi everyone,

What is the difference among the "ipol", "servo", and "refma" tasks in the ABB IRC5 controller?

Thanks!

0

Best Answer

• 

  xerim ✭

  September 2020 Answer ✓

  This is my best guess:
  
  ipol: internal task that deals with path interpolation
  
  servo: internal task that deals with control of external kinematics
  
  refma: no clue 

  5