Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-13
6.4.2
Interpolated Position (IP) Mode
The Interpolated Position Mode is used to control multiple coordinated axes or to control a single axis
that requires time interpolation of the set point data.
This mode normally uses a time (communications) synchronization mechanism to synchronize the Servo
Drives. The Interpolation Time Period defines the update cycle of the Interpolation Data (i.e., the
interpolation position). The interpolation processing in the Drive is based on this setting. The
Interpolation Data is interpreted as an absolute value.
Block Diagram
Position
limit
function
Position gear ratio
6093-01h:6093-02h
Acceler ation
gear ratio
6097-01h:6097-02h
Quick stop deceleration (6085h)
(or profile deceleration (6084h))
Position
trajectory
generator
Controlword (6040h)
Quick stop option code (605Ah)
Position
control
Speed
control
Torque
control
10
4
[inc/s
2
]
[inc]
[Pos. unit]
Velocity gear ratio
6094-02h:6094-01h
Position gear ratio
6093-02h:6093-01h
Position gear ratio
6093-01h:6093-02h
Torque actual value (6077h)
Velocity actual value (606Ch)
Position actual value (6064h)
Position
reached
window
comp arato r
Position window (6067h)
Position window
time (6068h)
Position
limit output
+
-
-
+
Position demand
value (6062h)
Target reached in
statusword (6041h)
Following error actual value (60F4h)
Following
error
window
comp arato r
Following error window (6065h)
Following
window time out
(6066h)
Following error in
statusword (6041h)
Position actual
internal value
(6063h)
[Acc. unit]
Encoder
Position
demand
internal
value
(60FCh)
Motor
Speed Limit
The speed limit is determined by the smaller of 6080h value and 607F value.
Relevant Objects
Object
Bit
Name
Value Description
Controlword
6040h
0
Switch on
0
Disabled
If Bit0 to Bit3 are all 1, the Drive
starts running.
1
Enabled
1
Enable voltage
0
Disabled
1
Enabled
2
Quick stop
0
Disabled
1
Enabled
3
Enable operation
0
Disabled
1
Enabled
4
Enable
0
Disables interpolation.