Interpolated Position Mode
Note regarding USB
Because this controller is not equipped with a fieldbus, the following operating mode can only be used with a NanoJ program.
You can find further information on the programming and use of a NanoJ program in chapter Programming with NanoJ.
Interpolated position mode is used to synchronize multiple axes. For this purpose, a higher-level controller performs the ramp and path calculation and passes the respective demand position, at which the axis is to be located at a certain time, to the controller. The controller interpolates between these intermediate position points.
Synchronization with the SYNC object
For interpolated position mode, it is necessary that the controller synchronizes with the SYNC object (depending on the fieldbus). This SYNC object is to be sent by the higher-level controller in regular intervals. Synchronization occurs as soon as the controller is switched to the Operational NMT mode.
The following bits in object 6040h (controlword) have a special function:
- Bit 4 activates the interpolation when it is set to "1".
- Bit 8 (Halt): If this bit is set to "1", the motor stops. On a transition from "1" to "0", the motor accelerates with the set start ramp to the target speed. On a transition from "0" to "1", the motor brakes and comes to a standstill. The braking deceleration is dependent here on the setting of the "Halt Option Code" in object 605Dh.
The following bits in object 6041h (statusword) have a special function:
- Bit 10: Target position reached: This bit is set to "1" if the target position was reached (if the halt bit in the controlword is "0") or the axis has speed 0 (if the halt bit in the last control word was "1").
- Bit 11: Limit exceeded: The demand position is above or below the limit values set in 607Dh.
Bit 12 (IP mode active): This bit is set to "1" if interpolation is active.
The controller follows a linearly interpolated path between the current position and the preset target position. The (next) target position must be written in record 60C1h:01h.
In the current implementation, only
- linear interpolation
- and a target position
The following setup is necessary:
After setting up, the task of the higher-level controller is to write the target positions to object 60C1h:01h in time.