Description Of The Objects - Festo CiA 402 Manual

6 Operating modes
The objects required for the interpolated position mode are described first in the following section. A
subsequent functional description comprehensively covers the activation and sequencing of parameter
setting.
6.4.2

Description of the Objects

Objects treated in this chapter
Index Object
60C0 VAR
h
1006 _00
h h
60C1 REC
h
60C2 REC
h
60C4 REC
h
Affected objects from other chapters
Index Object
6040 VAR
h
6041 VAR
h
6094 ARRAY
h
6097 ARRAY
h
Object 60C0 : interpolation_submode_select
h
The type of interpolation is established via the object interpolation_submode_select. Currently, only
the manufacturer-specific variant "3rd order polynomial interpolation" is available.
Index
Name
Object Code
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
Value Interpolation type
-2 Manufacturer-specific: 3rd order polynomial interpolation
122
Name
interpolation_submode_select
Communication_cycle_period
interpolation_data_record
interpolation_time_period
interpolation_data_configuration
Name
controlword
statusword
velocity_encoder_factor
acceleration_factor
60C0
h
interpolation_submode_select
VAR
INT16
rw
yes
–
-2
-2
Type Chapter
INT16 5 Device control
UINT16 5 Device control
UINT32 4.2 Conversion factors
UINT32 4.2 Conversion factors
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Type Attr.
INT16 rw
UINT32 ro
rw
rw
rw