Festo CiA 402 Manual page 128

6 Operating modes
Sync
modes_of_operation = 7
modes_of_operation_display = 7
controlword bit 4: Enable_ip_mode
controlword bit 12: ip_mode_active
Setpoint position
Actual position
1 ... 5 : Position specifications
Fig. 6.19 Synchronisation and data release
Event
Generate SYNC message
Request of the ip operating mode:
Wait until operating mode is taken
Read-out of the current actual position
Write back as current setpoint position
Start of interpolation
Acknowledgement by motor controller
Changing the current setpoint position in accordance
with trajectory
After the synchronous travel process is ended, deletion of the bit enable_ip_mode prevents further
evaluation of position values.
Then the system can switch into another operating mode, if necessary.
Interruptions of interpolation in case of error
If an ongoing interpolation (ip_mode_active set) is interrupted by a controller error, the drive first acts
as specified for the respective error (e.g. removal of the controller enable and change to the status
SWICTH_ON_DISABLED).
128
1 1 1 1
CAN Object
6060 , modes_of_operation
h
6061 , modes_of_operation_display
h
6064 , position_actual_value
h
60C1 _01 , ip_data_position
h h
6040 , controlword, enable_ip_mode
h
6041 , statusword, ip_mode_active
h
60C1 _01 , ip_data_position
h h
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
2 3 4 5
= 07
= 07