Infranor XtrapulsGem User Manual

133
X
trapulsPac - User Guide
Chapter 3 – Reference
Interpolation Submode Select
Index 0x60C0
Name Interpolation Submode Select
Object Code VAR
Data Type Integer16
Object Class ip
Access rw
PDO Mapping No
Value Range see below
Default Value 0
Interpolation Submode
Select
Description
0 Linear interpolation
-1 PV interpolation
-2 P3 interpolation
When in linear interpolation mode, only the first parameter of the interpolation data record is used. The data must
be the position reference.
When in PV interpolation mode, the first parameter of the interpolation data record must contain the position
reference and the second parameter of the interpolation data record contains the velocity reference.
Note
: The velocity reference for each set-point must be the instantaneous velocity at this point (not the average
velocity).
Interpolation data record
Index 0x60C1
Name Interpolation data record
Object Code RECORD
Number of Elements 2
Value Description
Sub Index 1
Description First parameter of ip function
Data Type Integer32
Object Class ip
Access rw
PDO Mapping Possible
Velocity
Time
Linear Interpolation
P reference
Cubic Interpolation
PV reference
Communication Cycle Time (constant)

Infranor XtrapulsGem Specifications

General

Brand	Infranor
Model	XtrapulsGem
Category	Controller
Language	English