ASDA-B3 CANopen Mode
11-21
11
11.3.2 Interpolation Position Mode
Interpolation Position Mode requires a series of position data to complete the interpolation
positioning. The difference between IP (Interpolation Mode) and PP (Position Mode) is all the
motion command paths of the IP mode are issued by the controller. The servo drive only follows
each position that the controller issues and finally completes a motion command. Delta servo
drives only support synchronous operation which is the controller periodically sends the SYNC
object (COB-ID = 0x80). The interpolation cycle can be set by OD 60C2h. And the controller
issues the position command to the interpolation position of OD 60C1h.
Interpolation time period
(60C2h)
Software position limit
(607Dh)
Position
limit
function
Max profile velocity (607Fh)
Speed
limit
function
Trajectory
generator
E-Gear ratio
6093h sub1
6093h sub2
Filter
P1.008
P1.025 -
P1.028
P1.036
P1.068
Position
control
loop
Speed
control
loop
Torque
control
loop
Max torque
(6072h)
Encoder
Servo
motor
M
Acceleration
limit function
Quick stop deceleration
(6085h)
[PUU]
[RPM]
[ms]
Torque actual value (6077h)
Velocity actual value (606Ch)
E-Gear ratio
6093h sub2
6093h sub1
Following error actual value (60F4h)
Following
error
comparator
Following error window (6065h)
Servo alarm AL009 (2001h)
Position demand
value (60FCh)
Position demand value
(6062h)
-
+
+
-
Interpolation data record
(60C1h)
Controlword (6040h)
Position window (6067h)
Position
window
comparator
Statusword target reached
(6041h)
Position window time (6068h)
Window
compara-
tor
Position actual value
(6064h)
Summary of Contents for ASDA-B3 Series
Page 15: ... This page is intentionally left blank ...
Page 53: ...Installation ASDA B3 2 24 2 This page is intentionally left blank ...
Page 137: ...Wiring ASDA B3 3 84 3 This page is intentionally left blank ...
Page 161: ...Test Operation and Panel Display ASDA B3 4 24 4 This page is intentionally left blank ...
Page 285: ...Motion Control ASDA B3 7 66 7 This page is intentionally left blank ...
Page 477: ...Parameters ASDA B3 8 192 8 This page is intentionally left blank ...
Page 515: ...Absolute System ASDA B3 10 22 10 This page is intentionally left blank ...
Page 747: ...Troubleshooting ASDA B3 13 54 13 This page is intentionally left blank ...
Page 809: ...Accessories ASDA B3 B 32 B This page is intentionally left blank ...
Page 813: ...Revision History ASDA B3 4 This page is intentionally left blank ...