maxon motor control
EPOS Application Note: Interpolation Position Mode
EPOS Positioning Controller
Edition December 2008 / Subject to change
maxon motor control
3
1.3
Table of tables
Table 1:
IPM data buffer entry structure ............................................................................................... 7
Table 2:
‘Interpolated Position Mode’ FSA states and supported functions.......................................... 8
Table 3:
‘Interpolated Position Mode’ Transition events and actions .................................................... 9
Table 4:
‘Interpolated Position Mode’ Configuration parameters .......................................................... 9
Table 5:
‘Interpolated Position Mode’ Commanding parameters .......................................................... 9
Table 6:
‘Interpolated Position Mode’ specific Controlword ................................................................ 10
Table 7:
‘Interpolated Position Mode’ bits of the Controlword............................................................. 10
Table 8:
‘Interpolated Position Mode’ Output parameters................................................................... 10
Table 9:
‘Interpolated Position Mode’ specific Statusword.................................................................. 10
Table 10:
‘Interpolated Position Mode’ bits of the Statusword .............................................................. 10
Table 11:
IPM data buffer record structure ........................................................................................... 12
Table 12:
Interpolation buffer status word............................................................................................. 12
Table 13:
Interpolation buffer status bits............................................................................................... 13
Table 14:
Interpolation Sub Mode Definition......................................................................................... 14
Table 15:
Buffer Organisation Definition ............................................................................................... 16
Table 16:
Clear Buffer Value Definition................................................................................................. 17
Table 17:
Typical Commanding sequence............................................................................................ 18
