maxon motor control
EPOS Application Note: Interpolation Position Mode
EPOS Positioning Controller
Edition December 2008 / Subject to change
maxon motor control
13
Name Bit
Value
Description
0
No buffer underflow warning
Underflow Warning
0
1
Buffer underflow warning level (0x20C4-2) is reached
0
No buffer overflow warning
Overflow Warning
1
1
Buffer overflow warning level (0x20C4-3) is reached
0
No profile velocity violation detected
Velocity Warning
2
1
IPM velocity greater then profile velocity (0x6081) detected
0
No profile acceleration violation detected
Acceleration
Warning
3
1
IPM acceleration greater then profile acceleration (0x6083)
detected
0
No buffer underflow error
Underflow Error
8
1
Buffer underflow error (
Æ
trajectory abort)
0
No buffer overflow error
Overflow Error
9
1
Buffer overflow error (
Æ
trajectory abort)
0
No maximal profile velocity violation detected
Velocity Error
2
1
IPM velocity greater then maximal profile velocity (0x607F)
detected (
Æ
trajectory abort)
0
No maximal profile acceleration violation detected
Acceleration Error
3
1
IPM acceleration greater then maximal profile acceleration
(0x60C5) detected (
Æ
trajectory abort)
0
Disabled access to the input buffer
Buffer enabled
14
1
Access to the input buffer enabled
0
ip mode inactive (same as bit 12 in statusword)
Ip Mode active
15
1
ip mode active
Table 13:
Interpolation buffer status bits
Name
Interpolation buffer underflow warning
Index
0x20C4
Subindex
0x02
Type
UNSIGNED16
Access
RW
Default Value
4
Value range
0
63
PDO Mapping
No
Description
This object gives lower signalization level of the data input FIFO. If the filling level is below this border the warning
flag (bit 0) in the Interpolation buffer status will be set.
Name
Interpolation buffer overflow warning
Index
0x20C4
Subindex
0x03
Type
UNSIGNED16
Access
RW
Default Value
60
Value range
1
64
PDO Mapping
No
Description
This object gives the higher signalization level of the data input FIFO. If the filling level is above this border the
warning flag (bit 1) in the Interpolation buffer status will be set.
