Interpolated Position Mode (Ip) (Ds402); General Information; Objects That Are Defined In This Section; Object Description - Kollmorgen S300 Manual

5.9 Interpolated Position Mode (ip) (DS402)

5.9.1 General information

The interpolated position mode is implemented in a simple, straightforward way. Single position
setpoints 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.

5.9.2 Objects that are defined in this section

Index Object
60C0h VAR
60C1h ARRAY
60C2h RECORD Interpolation time period
60C3h ARRAY
60C4h RECORD Interpolation data configuration

5.9.3 Object description

5.9.3.1 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
Name
Interpolation sub mode select
Interpolation data record
Interpolation sync definition
record
60C0h
Interpolation sub mode select
VAR
INTEGER16
optional
rw
possible
0
0
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Type
INTEG16ER
INTEGER32
Interpolation time period
UNSIGNED8
Interpolation data configuration
record
Access
rw
rw
rw
rw
rw
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