Estun Summa Series - Interpolated Position Mode

Summa Series Servodrive Product Manual
Appendix
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
12-59
(6068h) has passed after the distance between the target position and the position actual value is within
the value of this object, bit-10 (target reached) in statusword changes to 1.
Index
Subindex
Name
Data Type
Access
PDO Mapping
Value
6067h
0
Position
Window
UINT32
RW
Yes
0 to
4294967295
Position Window Time (6068h)
Index
Subindex
Name
Data Type
Access
PDO Mapping
Value
6068h
0
Position Window
Time
UINT16
RW
Yes
0 to 65536
Unit: ms
Position Demand Internal Value (60FCh)
This object gives the output of the trajectory generator during position control (the position that is input to
the position loop). The value is given in encoder pulses.
This value is 0 in Velocity Mode.
Index
Subindex
Name
Data Type
Access
PDO Mapping
Value
60FCh
0
Position
Demand Internal
Value
INT32
RO
TxPDO
-2147483648 to
2147483647
12.3.8 Interpolated Position Mode
Interpolation sub mode select (60C0h)
This object is used to select the submode for the Interpolated Position Mode and Cyclic Sync Position
Mode.
Index
Subindex
Name
Data Type
Access
PDO Mapping
Value
60C0h
0
Interpolation
sub mode select
INT16
RW
No
-1, 0
Default: 0
Value
Description
-1
Cubic Interpolated
0
Linear Interpolated
Interpolation Data Record (60C1h)
This object gives the interpolation position reference for Interpolated Position Mode.