CANopen DSP 402 Implementation Guide
83
Controlword of Interpolated Position mode:
Name | Value | Description |
Enable ip mode | 0 | Interpolated position mode is inactive. |
| 1 | Interpolated position mode is active. |
Halt | 0 | Execute the instruction of bit 4. |
| 1 | Stop axle according to halt option code. |
Notes:
If the interpolation is interrupted by setting bit 4 from 1 to 0, the drive stops at quick stop deceleration (object 0x6085) and is treated similarly to axis halted. In this case, the buffer is cleared; that is, the actual buffer size is the maximum buffer size.
Setting bit 4 to 1 always starts the interpolation from the first data record. It is up to the user to ensure consistency of the trajectory.
In case of a Halt, the drive stops the interpolation and stops the motor according to object 0x605D. This case is treated similarly to interpolation interrupted described previously.
In case the motor is stopped due to an internal fault or controlword command, the interpolation is disabled, even if bit 4 is 1. Interpolation can be enabled again only after the device enters the OPERATION_ENABLE state and bit 4 is set to 1.
Statusword of Interpolated Position mode:
Bit | Function |
0…9 | Described in Device Control |
10 | Target reached |
11 | Described in Device Control |
12 | Ip mode active. |
13 | Reserved |
14…15 | Described in Device Control |
Name | Value | Description |
Target reached | 0 | Halt = 0: Position not reached. |
|
| Halt = 1: Axle decelerates. |
| 1 | Halt = 0: Position reached. |
|
| Halt = 1: Velocity of axle is 0. |
IP mode active | 0 | Interpolation mode not active. |
| 1 | Interpolation mode active. |
Setting bit 4 from 0 to 1 starts the interpolation from the first entry of the interpolation buffer.
