Interpolated position mode | Emerson 0471-0128-02 guide

7.3.17 0x60FB Position_control_parameter_set object

Table 7.30 Position_control_parameter_set object

0x60FB Position_control_parameter_set

Sub-index 0

Access: RO		Range: N/A	Size: Unsigned 8	Unit: N/A
Default:	2

Description:	The number of control loop parameters.

Sub-index 1
Access: RW		Range: 0 to 65535	Size: Unsigned 16	Unit: 0.01 rad/s/rad

Default:	2500

Description:	The position controller proportional gain.
Sub-index 2
Access: RW		Range: 0 to 65535	Size: Unsigned 16	Unit: 1 / 1000

Default:	1000 (i.e. a gain of 1)

Description:	The position controller speed feed forward gain.

The APC position controller kernel is used by the basic internal position control.

The position_demand_value object contains the value supplied by either the interpolated position mode or the profile position mode (in user units). It is updated every control loop cycle. This object can be mapped as cyclic data.

7.4Interpolated position mode

Interpolated position mode operates on the Unidrive SP in servo mode, closed-loop vector mode and RFC mode. This mode also operates on the Digitax ST and Mentor MP. Table 7.31 lists the objects that are supported:

Table 7.31 Supported Interpolated position mode objects

Index	Name
0x60C0	interpolation_submode_select

0x60C1	interpolation_data_record
0x60C2	interpolation_time_period

7.4.10x60C0 Interpolation_sub-mode_select

Table 7.32 0x60C0 Interpolation_sub-mode_select

0x60C0	Interpolation_sub-mode_select
Access: RW		Range: 0	Size: Signed 16	Unit: N/A
Default:	0 (Linear	interpolation)

Description: Specifies the interpolation type. The values have the following meanings:0 = Linear Interpolation.

Information	Safety

Introduction

Installation	Mechanical

Installation	Electrical

Getting Started

Protocols

support	Drive profile (DSP-402)
features	Advanced

Diagnostics

Reference	Quick

Terms	Glossary
	Of

Index

SM-EtherCAT User Guide	39
Issue Number: 2	www.controltechniques.com

Image 39

Emerson 0471-0128-02 manual Interpolated position mode, 17 0x60FB Positioncontrolparameterset object

Contents

SM-EtherCAT General Information Contents Quick Reference Glossary Of Terms Diagnostics Safety Information Electrical safety general warningSystem design and safety of personnel Motor Adjusting parametersEnvironmental limits Compliance with regulations General safety considerations for remote operation Introduction FeaturesWhat is EtherCAT? Solution module identification Conventions used in this guide Date code formatExample General Installation Mechanical Installation Electrical Installation SM-EtherCAT module informationModule grounding Minimum node-to-node cable length Network topology SM-EtherCAT XML file Getting StartedQuick start guide SM-EtherCAT version compatibility Configuring the SM-EtherCAT module for cyclic communications Cyclic data mapping configuration RxPDO1 TxPDO1 TxPDO6 Configuring the Sync Managers Assigning TxPDO to the Sync Manager Assigning RxPDO to the Sync Manager Quick start flowchart Quick start flowchart SM-EtherCAT re-initialise Re-initialise all Solutions ModulesSaving parameters to the drive Re-initialising the SM-EtherCAT Object description format ProtocolsCANopen over EtherCAT CoE CoE object dictionary Identity object CoE communication areaDefinitions Device type object 0x1600 RxPDO mappingsRxPDO mappings RxPDO mapping 0x1605 0x1601 12 TxPDO mapping TxPDO mappings10 RxPDO mapping 11 TxPDO mappings Transmit PDO mapping Sub-index 0 Number of mapped objects 13 TxPDO mapping14 TxPDO mapping 0x1A01 0x1A15 15 TxPDO mapping16 TxPDO mapping 0x1A05 19 Sync manager 1 PDO assignment object Sync manager configuration17 Sync manager communication type object 18 Sync manager 0 PDO assignment object 22 Feedback encoder source Feedback encoder source20 Sync manager 2 PDO assignment object 21 Sync manager 3 PDO assignment object Controlword Command codingDrive profile DSP-402 support 0x6040 Controlword Common profile features 0x6041 StatuswordSequencing control Page Power disabled Transition Events Actions CoE state machine transition and events 0x605A 2 0x605A Quick stop option codeQuickstopoptioncode 10 Quick stop value definitions 4 0x605C Disableoperationoptioncode 5 0x605E Faultreactionoptioncode3 0x605B Shutdownoptioncode 6 0x6060 Modesofoperation 7 0x6061 Modesofoperationdisplay8 0x6085 Quickstopdeceleration 11 0x6091 Gearratio 10 0x608F Positionencoderresolution23 Positionencoderresolution Profile units Feed constant = feed / driving shaft revolutions 12 0x6092 FeedconstantBasic position control 24 Gearratio 16 0x60F4 Followingerroractualvalue 14 0x6062 Positiondemandvalue15 0x6064 Positionactualvalue Interpolated position mode 17 0x60FB Positioncontrolparameterset object1 0x60C0 Interpolationsub-modeselect 34 Interpolationtimeperiod 2 0x60C1 Interpolationdatarecord3 0x60C2 Interpolationtimeperiod 33 0x60C1 Interpolationdatarecord 37 vltargetvelocity Vl velocity mode36 vl velocity mode supported objects 1 0x6042 vltargetvelocity 2 0x6043 vlvelocitydemand 3 0x6044 vlvelocityactualvalue4 0x6046 vlvelocityminmaxamount 0x6047 5 0x6047 vlvelocityminmax6 0x6048 vlvelocityacceleration 41 0x6047 vlvelocityminmax 0x604A 7 0x6049 vlvelocitydeceleration8 0x604A vlvelocityquickstop 0x6049 9 0x604B vlsetpointfactor 10 0x604C vldimensionfactorCalculating the vl dimension factor 46 0x604C vldimensionfactor 48 0x6071 Targettorque Profile Torque mode47 Profile torque mode supported objects 1 0x6071 Targettorque 4 0x6087 Torqueslope Homing Mode2 0x6075 Motorratedcurrent 3 0x6078 Currentactualvalue General homing definitions Method 1 Homing on negative limit switch and index pulse Support Drive profile DSP-402 SM-EtherCAT User Guide Method 15 and 16 Reserved Method 17 to 30 Homing without index pulseMethod 33 and 34 Homing on index pulse Homing mode object definitions 0x607C Home offset 0x2804 Freeze object55 Freeze object Freeze object 0x6099 Homing speeds 0x6098 Homing method57 Homing method 58 Homing method values Advanced features Distributed clocksSM-EtherCAT protocol support SM-EtherCAT firmware version DiagnosticsModule identification parameters SM-EtherCAT module ID code Network loss behavior object Network configuration objectsCommander SK / Commander SL SM-EtherCAT network loss trip Running states Diagnostic parameters SM-EtherCAT module temperature Drive trip display codesSM-EtherCAT serial number SM-EtherCAT error codes Default Pr MM.50 Range Access SM-EtherCAT error codes12 SM-EtherCAT error codes 13 SM-EtherCAT error codes Updating SM-EtherCAT firmware Critical task % freeWorst case critical task % free Flash file system % free Quick Reference SM-EtherCAT objects referenceObject Name Description Cross reference Provides the velocity at the motor spin 3 on Pr MM.32 SM-EtherCAT parameter referenceObject Pr MM.01 Polled data See Cyclic data Glossary Of Terms Scan rate See Poll rate Index Secure Disable Page 0471-0128-02