Supported Drive Modes; Interpolated Position Mode - Control Techniques Nidec SI-EtherCAT User Manual

7.3.28

Supported Drive Modes

This object provides information on the supported drive modes.
Table 7-48 Supported Drive Modes
0x6502 Supported drive modes
Sub-index 0
Access: RO
Default: N/A
PDO Mappable: No
Motion Profiles: ALL
Description: Provides information on the supported drive modes as shown below.
Provides information on the supported drive modes as shown below.
Bit 0 - PP => Set if drive has AMC feature
Bit 1 - VL => Always Set
Bit 5 - HM => Set if drive has AMC feature
Bit 6 - IP => Set if drive has AMC feature and supports Opt Sync
Bit 7 - CSP => Set if drive has AMC feature and supports Opt Sync
Bit 8 - CSV => Set if drive has AMC feature and supports Opt Sync
Bit 9 - CST => Set if drive supports Opt Sync and drive current feedback
7.4

Interpolated position mode

Interpolated position mode operates on the Unidrive M600 and above in RFC-A and RFC-S modes.
Table 7-49 lists the objects that are supported:
Table 7-49 Supported Interpolated position mode objects
Index
0x60C0
0x60C1
0x60C2
When using one of the CiA402 positioning modes, Distributed Clocks must be enabled.
NOTE
Failure to do so may result in the SI-EtherCAT module going into the SAFE-
OPERATIONAL state.
7.4.1 0x60C0 Interpolation_sub-mode_select
Table 7-50 0x60C0 Interpolation_sub-mode_select
0x60C0 Interpolation_sub-mode_select
Access: RW
Default: 0 (Linear interpolation)
PDO Mappable: RxPDO
Motion Profiles: CSP, CSV, CST, IP
This will specify the interpolation type. The values have the following meanings:
Description:
0 = Linear Interpolation.
82
Range: Bit Mask
interpolation_submode_select
interpolation_data_record
interpolation_time_period
Range: 0
Size: 4 bytes
Type: Bit Mask / UDINT
Update rate: Reset
Name
Size: 2 bytes
Type: Unsigned integer / UINT
Update rate: New value used on change of
CiA402 profile
SI-EtherCAT User Guide
Unit: N/A
Unit: N/A