maxon motor control
EPOS Positioning Controller
EPOS Application Note: Interpolation Position Mode
12
maxon motor control
Edition December 2008 / Subject to change
MSB
LSB
Time (unsigned8)
Velocity (signed24)
Position (signed32)
Table 11:
IPM data buffer record structure
Remarks
This object is normally used to feed PVT reference points to the drive while a PVT motion is executing. Therefore
the object should be mapped to a RxPDO with transmission type of 255 (asynchron).
In the
Interpolation active state at least two data records have to be in the FIFO. Otherwise a Queue underflow
Emergency will be launched and the drive changes to
Fault reaction state.
A data record with time = 0 changes the state to
Interpolation inactive without any error.
3.6.4
Interpolation status
Name
Interpolation status
Index
0x20C4
number of entries
0x03
Name
Interpolation buffer status
Index
0x20C4
Subindex
0x01
Type
UNSIGNED16
Access
RO
Default Value
-
Value range
-
-
PDO Mapping
Yes
Description
This object gives access to status information about the IP input data buffer.
Bits 15
Bit 14
Bit 13 - 10
Bit 9 - 8
Bit 7 - 4
Bits 3 - 0
Ip Mode active
Buffer enabled
reserved (0)
IPM buffer
errors
reserved (0)
IPM buffer
warnings
Table 12:
Interpolation buffer status word
