maxon motor control
EPOS Positioning Controller
EPOS Application Note: Interpolation Position Mode
10
maxon motor control
Edition December 2008 / Subject to change
3.4.1
Controlword (Interpolated Position Mode specific bits)
The Controlword is a combination of operation mode dependent and mode independent bits. The mode
independent bits are described in the EPOS2 Firmware Specification chapter 8.1.3 and 14.67 and the control bits
of the IPM are described below.
Bits 15 - 9
Bit 8
Bit 7
Bit 6 - 5
Bit 4
Bits 3 - 0
(see FwSpec)
Halt
(see FwSpec)
reserved (0)
Enable ip mode
(see FwSpec)
Table 6: ‘Interpolated Position Mode’ specific Controlword
Name Value
Description
0
Interpolated position mode inactive
Enable ip mode
1
Interpolated position mode active
0
Execute instruction of Bit4
Halt
1
Stop axis with profile deceleration
Table 7: ‘Interpolated Position Mode’ bits of the Controlword
3.5
Output parameters
Parameter Index
Description
Interpolation status
0x20C4
The statusword of the interpolation mode is placed in subindex
1 of this object.
Statusword
0x6041
The interpolated position mode state can be observed by the
specific bits of Statusword.
Position demand value
0x6062
The position demand value is the output of the trajectory
generator. This value is the input for the position control
function.
Table 8: ‘Interpolated Position Mode’ Output parameters
3.5.1
Statusword (Interpolated Position Mode specific bits)
The Statusword is a combination of operation mode dependent and mode independent bits. The mode
independent bits are described in the EPOS2 Firmware Specification chapter 8.1.1 and 14.68 and the status bits of
the IPM are described below.
Bits 15, 14
Bit 13
Bit 12
Bit 11
Bit 10
Bits 9 - 0
(see FwSpec)
reserved
ip mode active
(see FwSpec)
Target reached
(see FwSpec)
Table 9: ‘Interpolated Position Mode’ specific Statusword
Name Value
Description
0
Halt = 0: Target position not (yet) reached
Halt = 1: Axle decelerates
Target reached
1
Halt = 0: Target position reached
Halt = 1: Velocity of axle is 0
0
ip mode inactive
ip mode active
1
ip mode active
Table 10:
‘Interpolated Position Mode’ bits of the Statusword
