Lenze 931K - Manual (Page 116)

Operating modes
Synchronous position selection
Functional description
9
l
116 KHB 13.0002−EN 4.1
Example:
Settings Value CAN object (COB) index Entry
Interpolation type −2 60C0
h
, interpolation_submode_select −2
Time unit 0.1 ms 60C2_02
h
, interpolation_time_index − 04
Time interval 8 ms 60C2_01
h
, interpolation_time_units 80
Buffer enable 1 60C4_06
h
, buffer_clear 1
Sync generation Sync (time base 8 ms)
Activation of the interpolated position mode (IP) and synchronisation
The IP is activated via the modes_of_operation object. The modes_of_operation_display
object can be used to read out whether the drive controller is in the interpolated position
mode operating mode or not. From this instant on, the internal selectors are set in such a
way that an internal position control is carried out. The setpoints received via CAN are
interpolated first and then extrapolated (if required) to obtain the time interval set.
If the operating mode is reached, the transfer of position data to the drive can start. It
makes sense that for this purpose the master first reads out the current actual position
from the drive controller and cyclically writes this position to the controller as the new
interpolation_data_record setpoint. Control word and the status word handshake bits
activate the acceptance of the data by the drive controller. By setting the enable_ip_mode
bit in the control word, the master indicates that the evaluation of the position data is to
be started. Evaluation of the data records will not started before the drive controller has
acknowledges this information via the ip_mode_selected status bit in the status word.