0X60C1/1 Interpolation Data Record - BONFIGLIOLI Vectron Active Cube User Manual

12.5.40 0x60C1/1 Interpolation data record

Index Sub-index
0x60C1 0
1
Object works in:
• Motion Control:
Interpolated mode
o
Object 0x60C1/1
interpolation position mode.
Always ensure that a valid position is stored in the Interpolated Data Record.
It is recommended to copy the actual position to the Data Record before starting the
Interpolated mode.
Interpolation position mode uses synchronous RxPDOs. The last received value for ob-
ject 0x60C1/1 is activated with the next SYNC.
The dimension of the user units is set via objects
constant
.
Example:
Read Request
Reply
Write Access
Reply
CB: Control byte
150
Meaning
Highest sub-index supported
Interpolation data record 1
Object doesn't work in:
interpolation data record 1
COB ID CB
601 40
581 43
601 23
581 60
SI: Sub Index All values in hexadecimal without leading 0x
CM-CAN ACU
Data type
Unsigned8
Integer32
• Motion Control:
Table Travel record mode
o
Profile Positioning mode
o
Profile Velocity mode
o
Velocity mode
o
Homing mode
o
Move away from Limit Switch
o
Electronic Gear: Slave
o
Non motion Control (conf. ≠ x40)
•
is the target position (in user units) used in
0x6091
Index SI Data
C1 60 01 00 00 00 00
C1 60 01 00 00 05 00
C1 60 01 18 73 01 00
C1 60 01 00 00 00 00
Access Map Def.-Val
ro No 1
rw Rx 0
Gear ratio
and 0x6092
04/13
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