Parker TPDM - Object 60 C0 H: Interpolation Sub Mode Select; Object 60 C1 H: Interpolation Data Record

Parker Hannifin Manufacturing Srl user’s manual TPDM
167
Note: the position loop resolution can be selected through parameter Pr288, that would be
considered as the exponent of 2 elevated to the n
th
power: 2
Pr288
.
12.1.10.1 Object 60C0h: Interpolation sub mode select
For the interpolated position mode a manufacturer may offer different interpolation
algorithms. This object reflects or changes the actually chosen interpolation mode.
OBJECT DESCRIPTION
INDEX
60C0h
Name
Interpolation sub mode select
Object Code
VAR
Data Type
INTEGER16
Category
Optional
ENTRY DESCRIPTION
Access
rw
PDO Mapping
Possible
Value Range
0..-2
Default Value
0
DATA DESCRIPTION
Value
Description
-2
Cubic interpolation only position
-1
Cubic interpolation speed+position
0
Linear interpolation
+1..+32767
reserved
12.1.10.2 Object 60C1h: Interpolation data record
The interpolation data record are the data words which are necessary to perform the
interpolation algorithm. The number N of data words in the record is defined by interpolation
data configuration. The interpretation of the data words in interpolation data record may vary
with the different possible interpolation modes as set by the interpolation sub mode select.
For the linear interpolation mode each interpolation data record simply can be regarded as a
new position set-point. To describe a cubic spline interpolation e.g., four or more data words
are needed for the spline coefficients, and further interpolation parameters.
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.
OBJECT DESCRIPTION
INDEX
60C1h
Name
Interpolation data record
Object Code
ARRAY
Data Type
INTEGER32
Category
Optional