maxon motor control
EPOS Application Note: Interpolation Position Mode
EPOS Positioning Controller
Edition December 2008 / Subject to change
maxon motor control
9
Transition
Event(s)
Action(s)
I
ip
mode selected (see object 6060h)
clear data buffer
II
ip
mode not selected (see object 6060h)
none
III
enable
ip
mode: set bit 4 of the controlword to 1
none
IV
disable
ip
mode: set bit 4 of the controlword to 0
or ip data record with time = 0
none
Table 3: ‘Interpolated Position Mode’ Transition events and actions
3.3
Configuration parameters
Parameter Index
Description
Interpolation sub mode 0x60C0
This object indicates the actually chosen interpolation mode.
Interpolation time
period
0x60C2
This object indicates the configured interpolation cycle time.
Interpolation data
configuration
0x60C4
This object provides the maximum buffer size, indicates the
configured buffer organization of interpolation data, and
provides objects to define the size of data record and to clear
the buffers.
Software position limit
0x607D
Contains the sub-parameters
min position limit and max
position limit. These parameters define the absolute position
limits for the position demand value
. Every new target position
will be checked against these limits.
Position Window
0x6067
This function offers to define a position range around a target
position to be regarded as valid. If the drive is within this area
for a specified time the related control bit 10 ‘Target Reached’
in the Statusword is set.
Position Window Time 0x6068
These parameters define the time for the position window.
Profile Velocity
0x6081
If the calculated velocity from the interpolation exceeds this
profile velocity a warning bit in the Interpolation buffer status
word will be set
Profile Acceleration
0x6083
If the calculated acceleration from the interpolation exceeds
this profile acceleration a warning bit in the Interpolation buffer
status word will be set
Maximal Profile
Velocity
0x607F
If the calculated velocity from the interpolation exceeds this
maximal profile velocity an error bit in the Interpolation buffer
status word will be set and the device goes to Fault reaction
state
Maximal Acceleration
0x60C5
If the calculated acceleration from the interpolation exceeds
this maximal profile acceleration an error bit in the Interpolation
buffer status word will be set and the device goes to Fault
reaction state
Interpolation status
0x20C4
The Interpolation buffer under- and overflow warning level is
configured in subindex 2 and 3 of this object.
Table 4: ‘Interpolated Position Mode’ Configuration parameters
3.4
Commanding parameters
Parameter Index
Description
Controlword
0x6040
The profile position mode will be controlled by a write access to
the mode dependent bits of the Controlword.
Interpolation data
record
0x20C1
This object contains a FIFO to feed PVT reference points to
the data buffer.
Table 5: ‘Interpolated Position Mode’ Commanding parameters
