maxon motor control
EPOS Positioning Controller
EPOS Application Note: Interpolation Position Mode
2
maxon motor control
Edition December 2008 / Subject to change
1
Indexes
1.1
Table of contents
Introduction................................................................................................................................................. 1
Objectives................................................................................................................................................... 1
References and Required Tool................................................................................................................... 1
1
Indexes................................................................................................................................................ 2
1.1
Table of contents ........................................................................................................................ 2
1.2
Table of figures ........................................................................................................................... 2
1.3
Table of tables ............................................................................................................................ 3
2
Interpolated Position Mode.................................................................................................................. 4
2.1
Explanations to the Interpolated Position Mode.......................................................................... 4
2.2
General Description .................................................................................................................... 5
2.3
Spline Interpolation ..................................................................................................................... 5
2.4
SYNC-Time stamp mechanism................................................................................................... 6
3
IPM Implementation by Maxon ............................................................................................................ 7
3.1
Interpolated position data buffer ................................................................................................. 7
3.1.1
Definition of complex data structure 0x0040 ........................................................................... 7
3.1.2
Structure of the FIFO .............................................................................................................. 8
3.2
Interpolated position mode FSA.................................................................................................. 8
3.3
Configuration parameters ........................................................................................................... 9
3.4
Commanding parameters ........................................................................................................... 9
3.4.1
Controlword (Interpolated Position Mode specific bits) ......................................................... 10
3.5
Output parameters .................................................................................................................... 10
3.5.1
Statusword (Interpolated Position Mode specific bits) .......................................................... 10
3.6
Detailed Object description ....................................................................................................... 11
3.6.1
COB-ID Time Stamp Object.................................................................................................. 11
3.6.2
High Resolution Time Stamp ................................................................................................ 11
3.6.3
Interpolation data record ....................................................................................................... 11
3.6.4
Interpolation status................................................................................................................ 12
3.6.5
Interpolation sub mode selection .......................................................................................... 14
3.6.6
Interpolation time period ....................................................................................................... 14
3.6.7
Interpolation data configuration............................................................................................. 15
3.7
Typical IPM commanding sequence ......................................................................................... 18
3.8
Interruption of interpolation mode in case of an error ............................................................... 21
1.2
Table of figures
Figure 1:
Interpolated Position PVT Principle ........................................................................................ 5
Figure 2:
Clock synchronization ............................................................................................................. 6
Figure 3:
Interpolation Controller............................................................................................................ 7
Figure 4:
Interpolation buffer FIFO organization .................................................................................... 8
Figure 5:
Interpolated position mode FSA.............................................................................................. 8
