6 Operating modes
Note
For homing mode 35, it is not necessary to switch the CiA 402 Power State Machine to the "Operation
enabled" state. When energizing the motor windings in open loop mode, it is thereby possible to
prevent the current position from not being exactly 0 after Homing Mode 35.
6.6 Interpolated Position Mode
6.6.1 Note regarding USB
Note
Because this controller is not equipped with a fieldbus, the following operating mode can only be used
with a NanoJ program.
You can find further information on the programming and use of a NanoJ program in chapter
Programming with NanoJ.
6.6.2 Overview
6.6.2.1 Description
Interpolated position mode is used to synchronize multiple axes. For this purpose, a higher-level controller
performs the ramp and path calculation and passes the respective demand position, at which the axis is to
be located at a certain time, to the controller. The controller interpolates between these intermediate position
points.
Note
The limit switches and, thus, the tolerance bands are active in this mode. For further information on
the limit switches, see Limitation of the range of motion.
6.6.2.2 Synchronization with the SYNC object
For interpolated position mode, it is necessary that the controller synchronizes with the SYNC object
(depending on the fieldbus). This SYNC object is to be sent by the higher-level controller in regular intervals.
Synchronization occurs as soon as the controller is switched to the Operational NMT mode.
Note
Where possible, it is recommended that a time interval of the SYNC object be used.
6.6.3 Activation
To activate the mode, the value "7" must be set in object 6060
h
(Modes Of Operation) (see "CiA 402 Power
State Machine").
6.6.4 Controlword
The following bits in object 6040
h
(controlword) have a special function:
●
Bit 4 activates the interpolation when it is set to "1".
●
Bit 8 (Halt): If this bit is set to "1", the motor stops. On a transition from "1" to "0", the motor accelerates
with the set start ramp to the target speed. On a transition from "0" to "1", the motor brakes and comes to
Version: 2.0.1 / FIR-v1650 70
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