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7.4.1
0x60C0 Interpolation_sub-mode_select
Table 7-37 0x60C0 Interpolation_sub-mode_select
0x60C0
Interpolation_sub-mode_select
Sub-index 0
Access: RW
Default:
0 (Linear interpolation)
Specifies the interpolation type. At present the
Description:
only supported Interpolation Sub-Mode is
'Linear Interpolation'.
7.4.2
0x60C1 Interpolation_data_record
This object is used to specify the target position. Linear interpolation is used to generate position
demand values every 250 µs. The position is specified in user-defined position units. The value is
written into sub-index 1.
Table 7-38 0x60C1 Interpolation_data_record
0x60C1
Interpolation_data_record
Sub-index 0
Access: RO
Default:
1
Description:
This object is used to specify the target position.
Sub-index 1
Access: RW
Default:
N/A
Description:
The set-point.
7.4.3
0x60C2 Interpolation_time_period
Table 7-39 Interpolation_time_period
0x60C2
Interpolation_time_period
Sub-index 0
Access: RO
Default:
2
Description:
The number of the last sub-index in this object.
Sub-index 1
Access: RW
250 (units are dependent on the value in sub-
Default:
index 2)
The number of time units between interpolator re-starts. A time unit is defined by sub-index 2.
Description:
The interpolator time period value is checked to ensure that it is valid. Valid values are 250 µs,
500 µs or any multiple of 1 ms. An attempt to write other values results in an SDO Abort code.
Sub-index 2
Access: RW
Default:
-6 (a time unit of 1 µs)
This specifies the time unit for the interpolation time period. Sub-index 2 specifies the unit
Description:
exponent. The time unit, therefore, is 10 (sub-index 2). The range of values allows for the
shortest time unit to be 1 µs, and the longest to be 1 s.
The implementation of interpolated position mode allows synchronous operation only, where a
fixed, common interpolation interval is defined. The time specified must always be an integer
multiple of the control loop cycle time. The time period index has a minimum value of -6 (i.e. the
SI-EtherCAT User Guide
Issue Number: 2
Range: 0
Range: N/A
Range: 0 to 0xFFFFFFFF
Range: N/A
Range: 0 to 255
Range: -6 to 0
Size: Signed 16
Unit: N/A
Type: INT
Size: Unsigned 8
Unit: N/A
Type: USINT
Size: Unsigned 32
Unit: N/A
Type: UDINT
Size: Unsigned 8
Unit: N/A
Type: USINT
Size: Unsigned 8
Unit: (sub-index 2)
Type: USINT
Size: Signed 8
Unit: N/A
Type: SINT
57
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