4.9 Interpolated Position Mode (ip) (DS402)
4.9.1 General information
The interpolated position mode is implemented in a simple, straightforward way. Single position set
-
points have to 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.
4.9.2 Objects defined in this section
Index Object Name Type Access
60C0
h
VAR Interpolation sub mode select INTEG16ER rw
60C1
h
ARRAY Interpolation data record INTEGER32 rw
60C2
h
RECORD Interpolation time period Interpolation time period rw
60C3
h
ARRAY Interpolation sync definition UNSIGNED8 rw
60C4
h
RECORD Interpolation data configuration record Interpolation data configuration record rw
4.9.3 Object description
4.9.3.1 Object 60C0h: Interpolation sub mode select
In the S300/S700 the linear interpolation between position setpoints is supported. The only allowed
value is 0.
Index 60C0
h
Name
Interpolation sub mode select
Object code
VAR
Data type
INTEGER16
Category
optional
Access
rw
PDO mapping
possible
Value range
0
Default value
0
CANopen for S300/S700 77
Kollmorgen 11/2018 CANopen Drive Profile
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