S300-S700 CANopen | 5 CANopen Drive Profile
5.9.3.2 Object 60C1h: Interpolation data record
In the S300/S700 a single setpoint is supported for the interpolated position mode. For the linear
interpolation mode each interpolation data record simply can be regarded as a new position set-
point.
After the last item of an interpolation data record is written to the devices input buffer, the pointer of
the buffer is automatically incremented to the next buffer position.
Index 60C1h
Name Interpolation data record
Object code ARRAY
Data type INTEGER32
Category optional
Subindex 0
Description number of entries
Data type UNSIGNED8
Category mandatory
Access ro
PDO mapping not possible
Value range 1
Default value no
Subindex 1
Description x1, the first parameter of ip function fip(x1, .. xN)
Category mandatory
Access rw
PDO mapping possible
Value range INTEGER32
Default value no
78 Kollmorgen | kdn.kollmorgen.com | December 2019
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