CANopen Programmer's Manual - Maccon.de

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9: Cyclic Synchronous Modes CANopen Programmer’s Manual TRAJECTORY BUFFER STATUS INDEX 0X2012 Type Access Units Range Map PDO Memory Unsigned 32 RO - See Description, below. EVENT - Description This object gives access to status information about the IP trajectory buffer. The status value is bit-mapped as follows: Bit(s) Description 0-15 These bits hold the 16-bit segment identifier of the next IP move segment expected. If a segment error has occurred (i.e. the segment integrity counter of a received message was out of order), then these bits may be consulted to determine the ID of the segment that should have been received. 16-23 The number of free locations in the IP buffer. 24 Set if a segment sequence error is in effect. A segment sequence error occurs when an IP segment is received with the incorrect value in its integrity counter. 25 Set if a buffer overflow has occurred. 26 Set if a buffer underflow has occurred. 27-30 Reserved for future use. 31 This bit is set if the IP buffer is empty. This object is intended to be read using a PDO, and has a PDO event associated with it. The event occurs when one of the error bits (24 – 26) is set, or when the trajectory generator removes a segment from the trajectory buffer. NEXT TRAJECTORY SEGMENT ID INDEX 0X2013 Type Access Units Range Map PDO Memory Unsigned 16 RO - - YES R Description This object gives the full 16-bit value of the next trajectory segment expected by the buffer interface. It contains the same information as bits 0-15 of the Trajectory Buffer Status object (index 0x2012). INTERPOLATION SUBMODE SELECT INDEX 0X60C0 Type Access Units Range Map PDO Memory Integer 16 RW - - YES R Description Determines which interpolation submode to use: Submode Description 0 Linear interpolation with a constant time. -1 Linear interpolation with variable time. -2 Cubic polynomial interpolation, which is also known as position, velocity, and time (PVT) interpolation. NOTE: Copley Controls provides a set of alternate objects (0x 2010, 0x 2011, 0x 2012, and 0x 2013) for efficient PVT move handling. When using the alternate objects, it is not necessary to set a linear interpolation submode using Interpolation Submode Select. 216 Copley Controls
CANopen Programmer’s Manual 9: Cyclic Synchronous Modes INTERPOLATION DATA RECORD INDEX 0X60C1 Type Access Units Range Map PDO Memory Record RW - - YES R Description This object is used to send interpolation data to the amplifier’s interpolation buffer. INTERPOLATION POSITION TARGET INDEX 0X60C1, SUB-INDEX 1 Type Access Units Range Map PDO Memory Integer 32 RW Counts - YES R Description A target position. Used in all three interpolation modes. INTERPOLATION TIME INDEX 0X60C1, SUB-INDEX 2 Type Access Units Range Map PDO Memory Unsigned 8 RW milliseconds - YES R Description The time interval of the move segment that starts with the Interpolation Position Target (Sub-Index 1), and extends to the next segment. Not used with interpolation mode 0 (linear interpolation with a constant time). In interpolation mode -1 (linear interpolation with variable time), writing to this object causes the entire record to be written to the interpolation buffer. Writing a value of zero to this object indicates the end of the interpolated move. INTERPOLATION VELOCITY INDEX 0X60C1, SUB-INDEX 3 Type Access Units Range Map PDO Memory Integer 32 RW 0.1 counts/sec - YES R Description Used only in interpolation mode -2 (PVT). This is the velocity used to drive the axis to the Interpolation Position Target (Sub-Index 1) within the Interpolation Time (Sub-Index 2). Writing to this object causes the entire record to be written to the interpolation buffer. Copley Controls 217
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