Interpolated Position Mode (Ip) (Ds402) - Kollmorgen S300 Interface Manual

Kollmorgen
4.9

Interpolated Position Mode (ip) (DS402)

4.9.1 General information
The interpolated position mode is implemented in a simple, straightforward way. Single position set-
points have to be transmitted in the interpolation time period and are taken over on every defined
SYNC - telegram sent. A linear interpolation is used between the setpoints.
4.9.2 Objects defined in this section
Index
60C0
60C1
60C2
60C3
60C4
4.9.3 Object description
4.9.3.1 Object 60C0h: Interpolation sub mode select
In the S300/S700 the linear interpolation between position setpoints is supported. The only allowed
value is 0.
Index
Name
Object code
Data type
Category
Access
PDO mapping
Value range
Default value
CANopen for S300/S700
Object Name
VAR Interpolation sub mode select
h
ARRAY Interpolation data record
h
RECORD Interpolation time period
h
ARRAY Interpolation sync definition
h
RECORD Interpolation data configuration record Interpolation data configuration record rw
h
60C0
Interpolation sub mode select
VAR
INTEGER16
optional
rw
possible
0
0
11/2018
Type
INTEG16ER
INTEGER32
Interpolation time period
UNSIGNED8
h
CANopen Drive Profile
Access
rw
rw
rw
rw
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