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CANopen Mode
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ASDA-A3
12.3.2 Interpolated Position mode
12
Interpolated Position (IP) mode requires a series of position data to complete the interpolation
for positioning. Different from PP (Profile Position) mode, all the motion command paths in IP
mode are issued by the controller. The servo drive only follows each position that the controller
issues and finally completes a motion command. Delta servo drives only support synchronous
operation in which the controller periodically sends the SYNC object (COB-ID = 0x80). The
interpolation time period can be set with OD 60C2h. And the controller issues the position
command to the interpolation position of OD 60C1h.
Interpolation data record
(60C1h)
Interpolation time period (60C2h) Position limit
function
Software position limit (607Dh)
Max profile velocity (607Fh)
Speed limit
function
Position
trajectory
generator
Position demand value
(60FCh)
Quick stop deceleration (6085h) Acceleration
limit function
Controlword (6040h)
Torque actual value (6077h)
Position
factor
6093h sub1
6093h sub2
Filter
(2108h)
(2119h to
211Ch)
(2124h)
(2144h)
Velocity actual value (606Ch)
Position window (6067h)
Position window time (6068h)
Target reached (6041h [Bit 10])
Timer
Position actual value (6064h)
Following error actual value (60F4h)
Following error window (6065h)
Window
comparator
+
-
-
+
Position demand value
(6062h)
Position
factor
6093h sub2
6093h sub1
Servo alarm AL009 (2001h)
Window
comparator
Max torque
(6072h)
Position
control
loop
Speed
control
loop
Torque
control
loop
Servo
motor
M
Encoder
12-22
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