Nidec Digitax HD M753 EtherCAT User Manual Download Page 113

Page: 113 / 262

Digitax HD M753 Control User Guide

113

Issue Number: 3

9.18.25 Supported drive modes

This object provides information on the supported drive modes.

Table 9-72 Supported drive modes

9.19

Interpolated position mode

Interpolated position mode operates in RFC-A and RFC-S modes.
Table 9-73 lists the objects that are supported:

Table 9-73 Supported Interpolated position mode objects

When using one of the CiA402 positioning modes, Distributed Clocks
must be enabled. Failure to do so may result in the EtherCAT interface
going into the SAFEOPERATIONAL state.

9.19.1

0x60C0 Interpolation_sub-mode_select

Table 9-74 0x60C0 Interpolation_sub-mode_select

9.19.2

0x60C1 Interpolation_data_record

This object is used to specify the target position. Linear interpolation
is used to generate position demand values every 250

s. The position

is specified in user-defined position units. The value is written into sub-
index 1.

Table 9-75 0x60C1 Interpolation_data_record

9.19.3

0x60C2 Interpolation_time_period

Table 9-76 Interpolation_time_period

The implementation of interpolated position mode allows synchronous
operation only, where a fixed, common interpolation interval is defined.
The time specified must always be an integer multiple of the control loop
cycle time. The time period index has a minimum value of -6 (i.e. the
smallest time unit will be microseconds), see Table 9-77 for more
information.

Table 9-77 Interpolation time period units

The time period is checked to ensure that it is an integer multiple of the
control loop cycle time. Only linear interpolation is currently supported,
this type inserts a delay of one interpolation time period.
The input buffer has a maximum size of 1 data record, and a data record
contains one position in profile-defined units. The buffer is a FIFO buffer.
On each interpolator time period, a value is read from this buffer. The
correct number of data points for a specific interpolation mode are stored
internally. When a new position command is loaded in, the oldest
position command in the data set is discarded.

0x6502

Supported drive modes

Sub-index 0

Access: RO

Range: 0 to
0xFFFFFFFF

Size: 4 bytes

Unit: N/A

Default: N/A

Type:

UDINT

Description:

Provides information on the supported drive modes as shown
below.

Index

Name

0x60C0

interpolation_submode_select

0x60C1

interpolation_data_record

0x60C2

interpolation_time_period

0x60C0

Interpolation_sub-mode_select

Sub-index 0
Access: RW

Range: 0

Size: 2 bytes

Unit: N/A

Default:

0 (Linear interpolation)

Type: INT

Description:

Specifies the interpolation type. At present the only supported
Interpolation Sub-Mode is ‘Linear Interpolation’.

cstca cst

csv

csp

Mnemonic Description

Value

Reserved

Manufacturer specific
bits

0 = Function is not
supported

1 = Function is supported

cstca

Cyclic sync torque
mode with
communication angle

0 = Mode is not supported

1 = Mode is supported

cst

Cyclic sync torque
mode

csv

Cyclic sync velocity
mode

csp

Cyclic sync position
mode

Interpolated position
mode

Homing mode

Torque profile mode

Profile velocity

Velocity mode

Profile position mode

NOTE

0x60C1

Interpolation_data_record

Sub-index 0
Access: RO

Range: N/A

Size: 1 byte

Unit: N/A

Default: 1

Type:

USINT

Description: This object is used to specify the target position.
Sub-index 1

Access: RW

Range:
0x80000000 to
0x7FFFFFFF

Size: 4 bytes

Unit: N/A

Default: N/A

Type:

DINT

Description: The

set-point.

0x60C2

Interpolation_time_period

Sub-index 0
Access: RO

Range: N/A

Size: 1 byte

Unit: N/A

Default: 2

Type:

USINT

Description: The number of the last sub-index in this object.
Sub-index 1

Access: RW

Range: 0 to 255 Size: 1 byte

Unit:
(sub-index 2)

Default:

250 (units are dependent on
the value in sub-index 2)

Type: USINT

Description:

The number of time units between interpolator re-starts. A time unit
is defined by sub-index 2. The interpolator time period value is
checked to ensure that it is valid. Valid values are 250 µs, 500 µs or
any multiple of 1 ms. An attempt to write other values results in an
SDO Abort code.

Sub-index 2
Access: RW

Range: -6 to 0

Size: 1 byte

Unit: N/A

Default:

-6 (a time unit of 1 µs)

Type: SINT

Description:

This specifies the time unit for the interpolation time period.
Sub-index 2 specifies the unit exponent. The time unit, therefore,
is 10

(sub-index 2)

. The range of values allows for the shortest time

unit to be 1 µs, and the longest to be 1 s.