6 control commands & status information, Control commands & status information – Lenze E94AxHE Technology Application CiA402 Device profile User Manual
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9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Interpolated position mode
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L
EDS94TA11010xxxx EN 1.2 - 03/2010
3.11.6
Control commands & status information
) control word serves to execute control commands in the
"interpolated position mode":
) status word serves to output the following status information in the
"interpolated position mode":
Internal states/state changes
[3-3]
Internal state changes
Control word
Status Function
Bit 4
0 "Interpolated position mode" is not active
0 Ê 1 Select "Interpolated position mode"
1 Ì 0 Deselect "Interpolated position mode"
Bit 5
0 Reserved (bit must be set to "0")
Bit 6
0 Reserved (bit must be set to "0")
Bit 8
0 Ê 1 Stop
Status word
Status Meaning
Bit 12
0 "Interpolated position mode" is not active
1 "Interpolated position mode" is active
Bit 13
0 Reserved (bit is always set to "0")
n
"Interpolated position mode" is selected via bit 4 of the control word.
• The "interpolation is not active" status occurs.
• Setpoints are accepted by the master control and buffered for the interpolation, but the axis is not
moving yet.
o
Interpolation is enabled.
• It is changed to the internal "Interpolation is active" status.
• The drive accepts input data and moves the axis.
p
"Interpolated position mode" is deselected again (bit 4 of the control word is reset).
• It is changed back to the internal "Interpolation is not active" status.
q
Another operating mode is selected via the control word.
Operation enabled
Interpolation inactive
Interpolation active
Disable voltage
Shutdown
Quick stop