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3.2.2
Interpolation in drive
1070 066 091-102 (01.08) GB
LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01
Features:
D Positioning performed entirely via PROFIBUS-DP.
(no limitation to a maximum of 32 blocks.)
D Absolute as well as incremental position inputs are possible
D Start, interruption and abortion of a motion
D Referencing
D Actual position value feedback
Function:
The complete block data (position, velocity, acceleration, and deceleration),
the "PROFIBUS control word" (P-0-2800) and the "PROFIBUS status word"
(P-0-2801) are cyclically exchanged between the master and the drive using
the "Data_Exchange" service.
The drive stores the block data in parameters P-0-2810 to P-0-2813 ab.
The following is exchanged cyclically between the master and the drive
using the "Data_Exchange" service in order to control the drive and for in-
terpolation by the drive:
D PROFIBUS control word (P-0-2800)
15
X X r r X r r X X X r X X X X X
0
1
X
Bit 6: absolute/relative
target position input as absolute dimension
0
target position input as relative dimension
1
Bit 7: Start/Stop referencing
Positive edge (0–>1): Start referencing
X
Negative edge (1–>0): Interrupt referencing
Bit 8: IPO Halt
motion is resumed
0
motion is interrupted (IPO Halt)
1
Bit 11: IPO Reset
new block can be started by bit 4 (New Setpoint).
0
0
Current motion is aborted (IPO-Reset). In this case, bit 10 of
1
1
P-0-2801 becomes high.
Bits 14 and 15: Mode
Automatic
0
0
Jogging in pos. direction
1
0
Jogging in neg. direction
1
1
PROFIBUS-DP interface
X = 0 or 1
2
1
0
r = reserved
Bit 0: Drive Halt
drive halt, setpoints are inhibited
0
setpoints are effective
1
Bit 1: Drive enable
no drive enable
0
drive has been enabled
1
Bit 2: Drive on
drive off
0
drive on.
1
Bit 3: Reset diagnostics class 1
no effect
reset diagnostics class 1
Bit 4: New Setpoint
Positive edge (0–>1) accepts the motion block
data to the interpolator and starts the motion.
Motions can be started by a positive
edge of bit 4 (New Setpoint).
Stop as soon as bit4 = 0.
3–5
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