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A velocity feed forward will be calculated for the position controller. On each interpolator time
period, a value is read from the target_position object. The correct number of data points for linear
interpolation is stored internally. When a new target position is loaded in, the oldest position
command in the data set will be discarded.
7.7.1
0x607A Target_position
This object indicates the commanded position that the drive should move to in cyclic sync position
mode using the current settings of motion control parameters such as velocity, acceleration,
deceleration, motion profile type etc. The value of this object is given in user-defined position units.
Table 7-61 Target position
0x607A
Target position
Sub-index 0
Access: RW
Default:
N/A
Description:
Indicates the command positions that the drive should move to in cyclic sync position mode.
Table 7-62 Interpolation sub-mode select
0x60C0
Interpolation sub-mode select
Sub-index 0
Access: RW
Default:
0 (Linear Interpolation)
This will specify the interpolation type. The values have the following meanings:
Description:
0 = Linear Interpolation.
Table 7-63 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
Default:
250
The number of time units between interpolator restarts. A time unit is defined by sub-index 2.
Description:
The interpolator time period value will be checked to ensure that it is valid. Valid values are
250 µs, 500 µs or any multiple of 1 ms. Selecting other values will result in an error indication.
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(
shortest time unit to be 1 µs, and the longest to be 1s.
SI-EtherCAT User Guide
Issue Number: 2
Range: 0 to
Size: Signed 32
0xFFFFFFFF
Type: DINT
Range: 0 to 0
Size: 2 bytes
Type: INT
Range: N/A
Size: 1 byte
Type: USINT
Range: 0 to 255
Size: 1 byte
Type: USINT
Range: -6 to 0
Size: 1 byte
Type: SINT
Unit: User-defined position units
Unit: N/A
Unit: N/A
Unit: (sub-index 2)
Unit: N/A
sub-index 2
). The range of values allows for the
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