7.9 Interpolated Position Mode (ip) (DS402)
7.9.1 General information
The interpolated position mode is implemented in a simple, straightforward way. Single position setpoints must
be transmitted in the interpolation time period and are taken over on every defined SYNC - telegram sent. A linear
interpolation is used between the setpoints. Examples can be found from page => p. 151.
7.9.1.1 Objects defined in this section
Index Object Name Type Access
60C0h VAR Interpolation sub mode select INTEGER16 R/W
60C1h ARRAY Interpolation data record INTEGER32 R/W
60C2h RECORD Interpolation time period Interpolation time period R/W
60C4h RECORD Interpolation data configuration record Interpolation data con-
figuration record
R/W
7.9.1.2 Objects defined in other sections
7.9.2 Object description
7.9.2.1 Object 60C0h: Interpolation sub mode select
In the AKD, both linear interpolation between position setpoints and Cubic polynomial interpolation between posi-
tion/velocity/time setpoints are supported.
Index 60C0h
Name Interpolation sub mode select
Object code VAR
Data type INTEGER16
Category optional
Access R/W
PDO mapping not possible
Value range -2, -1, 0
Default value 0
Value description
Value(dec-
imal)
Description
0 Linear interpolation with a constant time.
-1 Reserved.
-2 Cubic polynomial interpolation, which is also known as position, velocity, and time (PVT) inter-
polation.
AKD CANopen | 7 CANopen Drive Profile
Kollmorgen™ | November 2012 105
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