ID 442454.02
33
WE KEEP THINGS MOVING
Basic information
2
Operation manual CiA 402 Controller Based
2.2.3.4
Control commands and status information
To select the Homing mode operation mode, set the parameter
A541
to the
value 6.
The active operation mode is output in parameter
A542
. If Homing mode
operation mode is active, the display contains as information 6: Homing.
The following mode-specific bit is used in the control word
A515
.
The following bit has a mode-specific meaning in the status word
A516
.
2.2.4
Interpolated position mode
You can use Interpolated position mode to implement cyclic position
assignment with the control unit. Position control is performed in the drive.
The control includes a reference position (with a time stamp) and if applicable
a reference speed that is processed as a feed forward. The application
interpolates the reference values and forwards them to the position control
system. Acceleration and brake ramps or jerk limits are not taken into
consideration.
Bit
Designation
Comment
4
Homing operation start
1 = Start referencing.
Bit
Designation
Comment
10
Target reached
1 = Referencing
completed
12
Homing attained
1 = Reference reached
13
Homing error
1 = Error during
referencing
Information
Note that in Interpolated position mode, instead of a set of reference
values, only one reference value can be assigned.
