14.3 Position Control Modes
14.3.2 Interpolated Position Mode
14-10
Mode 2
This submode is used to perform interpolation feeding control for an individual axis. Unlike
mode 1, mode 2 has reference input buffers (
interpolation data record for 1st profile
and
inter-
polation data record for 2nd profile
) that you can set to different interpolation positions (
interpo-
lation data record
). The interpolation positions that are set in the reference input buffers are
read each
interpolation time period
to perform interpolation processing.
The following figure shows the block diagram for mode 2.
Related Objects
60C2h
Interpolation time period
1
Interpolation time period
value
RO
No
−
USINT
2
Interpolation time index
RO
No
−
SINT
607Dh
Software position limit
1
Min position limit
RW
No
Pos unit
DINT
2
Max position limit
RW
No
Pos unit
DINT
6084h
0
Profile deceleration
RW
Yes
Acc unit
UDINT
6085h
0
Quick stop deceleration
RW
Yes
Acc unit
UDINT
Continued from previous page.
Index
Subindex
Name
Access
PDO
Mapping
Unit
Data
Type
+
+
-
-
Motor
Encoder
Position actual value (6064h)
Velocity actual value (606Ch)
Torque actual value (6077h)
Position window (6067h)
Target reached in statusword
(6041h)
Following error in statusword
(6041h)
Following error window (6065h)
Following error actual value (60F4h)
Following error
window
comparator
Position reached
window
comparator
Position window
time (6068h)
Following window
time out (6066h)
Position demand
value (6062h)
Position
user unit
(2701h: 1, 2701h: 2)
Velocity
user unit
(2702h: 1, 2702h: 2)
Position
user unit
(2701h: 1, 2701h: 2)
Output of position
limit function
Position actual
internal value (6063h)
Position
control
Speed
control
Torque
control
Position
user unit
(2701h: 1, 2701h: 2)
Position
trajectory
generator
Acceleration
user unit
(2703h: 1, 2703h: 2)
Quick stop deceleration (6085h)
(or profile deceleration (6084h))
[Pos unit]
[Acc unit]
[inc]
104[inc/s2]
Quick stop option code (605Ah)
Position
demand
internal
value
(60FCh)
Interpolation data
(27C0h and 27C1h)
Interpolation time
period (60C2h)
Interpolation data
configuration
(2730h and 2731h)
Input
buffer
Interpolation profile
select (2732h)
Controlword (6040h)
Position
limit
function
Software position limit (607Dh)
Multiplier
Multiplier
Multiplier
Torque
user unit
(2704h: 2, 2704h: 1)
Index
Subindex
Name
Access
PDO
Mapping
Unit
Data
Type
6040h
0
Controlword
RW
Yes
−
UINT
6041h
0
Statusword
RO
Yes
−
UINT
60C2h
Interpolation time period
1
Interpolation time period value
RW
No
−
USINT
2
Interpolation time index
RW
No
−
SINT
Continued on next page.
