maxon motor control
EPOS Application Note: Interpolation Position Mode
EPOS Positioning Controller
Edition December 2008 / Subject to change
maxon motor control
11
3.6
Detailed Object description
3.6.1
COB-ID Time Stamp Object
Name
COB-IB Time Stamp Object
Index
0x1012
Subindex
0x00
Type
UNSIGNED32
Access
RW
Default Value
0x00000100
Value range
0x00000100
0x00000100
PDO Mapping
No
Description
This object defines the COB-ID of the Time-Stamp Object (TIME). On the EPOS2 this value is constant.
3.6.2
High Resolution Time Stamp
Name
High Resolution Time Stamp
Index
0x1013
Subindex
0x00
Type
UNSIGNED32
Access
RW
Default Value
-
Value range
-
-
PDO Mapping
Yes
Description
This object contains the timestamp of the last received SYNC Object [1us]. The resolution of the device internal
motion clock timer depends on the selected CAN bitrate (bit time) e.g. 1us at 1Mbit/s. After a write access to this
object the EPOS2 calculates the difference between the received timestamp and the internal latched timestamp of
the SYNC Object. This time difference is used as correction for the IPM time calculations.
3.6.3
Interpolation data record
Name
Interpolation data record
Index
0x20C1
Subindex
0x00
Type
complex data structure 0x0040
Access
WO
Default Value
-
Value range
-
-
PDO Mapping
Yes
Description
This object sets PVT reference points in the interpolated position mode in the cubic spline interpolation sub-mode.
The position is given absolute in [Position units] (typically [qc]), the velocity is given in [Velocity units] (typically
[rpm]), and the time is given in [ms]. The object structure is defined in
Definition of complex data structure 0x0040
