Festo CiA 402 Manual page 127

6 Operating modes
EXAMPLE
Exercise
Type of interpolation -2
Time unit
Time interval
Save parameters
Perform reset
Wait for bootup
Buffer activation
Generate SYNC
Activation of the interpolated position mode and synchronisation
The IP is activated via the object modes_of_operation (6060
The controller starts the interpolation algorithm with the change to the IP_MODE and then reports
IP_MODE_SELECTED immediately in the statusword. From this point, the motor controller expects new
setpoint values in the time grid of the sync interval.
If the interpolator no longer receives any setpoint values in the IP_MODE_SELECTED status, the motor
controller interrupts the IPO mode after 2 sync cycles and reports the error E125.
If the mode of operation is taken up, transfer of position data to the drive can begin. As is logical, the
higher-order controller first reads the current actual position from the motor controller and then writes
it cyclically into the motor controller as a new setpoint value (interpolation_data_record). Acceptance
of data by the motor controller is activated via handshake bits of the controlword and statusword. By
setting the bit enable_ip_mode in the controlword, the host shows that evaluation of the position data
should begin. The data records are evaluated only when the motor controller acknowledges this via the
status bit ip_mode_selected in the statusword.
In detail, therefore, the following assignment and procedure result:
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
CAN object/COB
60C0 , interpolation_submode_select
h
0.1 ms 60C2 _02 , interpolation_time_index
h h
8 ms 60C2 _01 , interpolation_time_units
h h
1010 _01 , save_all_parameters
h h
NMT reset node
Bootup message
1 60C4 _06 , buffer_clear
h h
SYNC (grid 8 ms)
=
=
=
=
).
h
–2
–4
80
1
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