Interpolation Position Mode - Delta ASDA-A3 Series User Manual

ASDA-A3

12.3.2 Interpolation Position Mode

Interpolation Position Mode requires a series of position data to complete the interpolation
positioning. The difference between IP (Interpolation Mode) and PP (Position Mode) is all the
motion command paths of the 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 which is the controller periodically sends the SYNC
object (COB-ID = 0x80). The interpolation cycle can be set by OD 60C2h. And the controller
issues the position command to the interpolation position of OD 60C1h.
Interpolation data record
(60C1h)
Interpolation time period
(60C2h)
Software position limit
(607Dh)
Max. profile velocity (607Fh)
Quick stop deceleration
(6085h)
Controlword (6040h)
Torque actual value (6077h)
Velocity actual value (606Ch)
Position window (6067h)
Position window time (6068h)
Statusword target reached
(6041h)
Position actual value
(6064h)
Following error actual value (60F4h)
Following error window (6065h)
Servo alarm AL009 (2001h)
Position
[PUU]
limit
function
[RPM]
Speed
Trajectory
limit
generator
function
[ms]
Acceleration
E-Gear ratio
limit function
6093h sub1
6093h sub2
+
Position
Window
compara- window
-
tor
comparator
-
+
Position demand value
(6062h)
Following
error
comparator
Positive
torque limit
(60E0h)
Max. torque
Negative
torque limit
(60E1h)
Position demand
value (60FCh)
Filter
P1.008
Position
P1.025 -
control
P1.028
loop
P1.036
P1.068
E-Gear ratio
6093h sub2
6093h sub1
CANopen Mode
(6072h)
Torque
Speed
Servo
control
control
motor
loop
loop
M
Encoder
12
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