Interpolated Position Mode - Delta ASDA-A3 Series User Manual

CANopen Mode

12.3.2 Interpolated Position mode

Interpolated Position (IP) mode requires a series of position data to complete the interpolation
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for positioning. Different from PP (Profile Position) mode, all the motion command paths in 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 in which the controller periodically sends the SYNC object (COB-ID = 0x80). The
interpolation time period can be set with 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)
Target reached (6041h [Bit 10])
Position actual value (6064h)
Following error actual value (60F4h)
Following error window (6065h)
Servo alarm AL009 (2001h)
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Position limit
function
Position
Speed limit
trajectory
function
generator
Acceleration
Position
limit function
factor
6093h sub1
6093h sub2
+
Window
Timer
comparator
-
-
+
Position demand value
(6062h)
Window
comparator
Max torque
Position demand value
(60FCh)
Filter
(2108h)
Position
(2119h to
control
211Ch)
loop
(2124h)
(2144h)
Position
factor
6093h sub2
6093h sub1
ASDA-A3
(6072h)
Torque
Speed
Servo
control
control
motor
loop
loop
M
Encoder