maxon motor control
EPOS Positioning Controller
EPOS Application Note: Interpolation Position Mode
8
maxon motor control
Edition December 2008 / Subject to change
3.1.2
Structure of the FIFO
The FIFO is implemented by a circular buffer with the length of 64 entries.
T
V
P
T
V
P
T
V
P
T
V
P
T
V
P
T
V
P
T
V
P
T
V
P
T
V
P
T
V
P
T
V
P
1
64
Buffer underflow error
Buffer underflow warning
(0x20C4-02)
Buffer overflow warning
(0x20C4-03)
Buffer overflow error
Buffer position
(0x60C4-04)
Actual buffer size
(0x60C4-02)
Interpolation data record (0x20C1)
Reference point [n]
Reference point [n-1]
V
P
Interpolation segment
}
Figure 4: Interpolation buffer FIFO organization
3.2
Interpolated position mode FSA
The interpolated position finite state automaton is a sub FSA of the
Operation enable state.
Figure 5:
Interpolated position mode FSA
FSA state
Function
Interpolation inactive
The drive device will accept input data and will buffer it for
interpolation calculations, but does not move the axis
Interpolation active
The drive unit will accept input data and it moves the axis
Table 2: ‘Interpolated Position Mode’ FSA states and supported functions
