Lenze 931K - Manual (Page 118)

Operating modes
Synchronous position selection
Functional description
9
l
118 KHB 13.0002−EN 4.1
No. Event CAN object
1 Generation of sync messages
2 Request of IP operating mode 6060
h
, modes_of_operation = 07
3 Waiting for the operating mode being reached 6061
h
, modes_of_operation_display = 07
4 Reading−out of the current actual position 6064
h
, position_actual_value
5 Writing−back as the current set position 60C1_01
h
, ip_data_position
6 Start of the interpolation 6040
h
, control word, enable_ip_mode
7 Acknowledgement through the drive controller 6041
h
, status word, ip_mode_active
8 Change of the current set position according to
trajectory 60C1_01
h
, ip_data_position
When the synchronous travel has been completed, further evaluation of position values
can be suppressed by deleting the enable_ip_mode bit. It is then possible to switch to
another operating mode if required.
Interpolation interruption in the event of errors
If a running interpolation (ip_mode_active is set) is interrupted by an error occurring in the
drive controller, the drive first responds in the way specified for the respective error (e.g.
cancelling of the controller enable and change to the switch_on_disables state).
In this case the interpolation can only be continued by switching on the IP parameters once
more because the drive controller must again reach the operation_enable state which
deletes the ip_mode_active bit.