EPOS2 Application Notes Collection - Maxon Motor

Interpolated Position Mode
IPM Implementation by maxon
6.3.4 Commanding Parameters
Parameter Index Description
Controlword
Interpolation Data Record
0x6040
0x20C1
The mode will be controlled by a write access to the
Controlword’s mode-dependent bits.
Contains a FIFO to feed PVT reference points to the data
buffer.
Table 6-74
Interpolated Position Mode – Commanding Parameters
Controlword (Interpolated Position Mode-specific Bits)
Bit 15…9 Bit 8 Bit 7 Bit 6, 5 Bit 4 Bit 3…0
FwSpec Halt FwSpec reserved (0)
Enable ip
mode
FwSpec
Table 6-75
Interpolated Position Mode – Controlword
Name Value Description
0 Interpolated position mode inactive
Enable ip mode
1 Interpolated position mode active
0 Execute instruction of bit 4
Halt
1 Stop axis with profile deceleration
Table 6-76
Interpolated Position Mode – Controlword Bits
6.3.5 Output Parameters
Parameter Index Description
Interpolation status 0x20C4 The mode’s statusword is placed in subindex 1 of this object.
Statusword 0x6041 Mode state can be observed by Statusword bits.
Position Demand Value 0x6062
The output of the trajectory generator – it is used as input for
the position control function.
Table 6-77
Interpolated Position Mode – Output Parameters
Statusword (Interpolated Position Mode-specific Bits)
Bit 15, 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9…0
FwSpec reserved ip mode active FwSpec
Target
reached
FwSpec
Table 6-78
Interpolated Position Mode – Statusword
Name Value Description
Target reached
ip mode active
0
1
Halt = 0: Target Position not (yet) reached
Halt = 1: Axle decelerates
Halt = 0: Target Position reached
Halt = 1: Velocity of axle is 0
0 ip mode inactive
1 ip mode active
Table 6-79
Interpolated Position Mode – Statusword Bits
maxon motor control
6-80 Document ID: rel3956 EPOS2 Positioning Controllers
Edition: April 2013
EPOS2 Application Notes Collection
© 2013 maxon motor. Subject to change without prior notice.