AKD EtherCAT | 5 Appendix
5.3.85 Object 60C1h: Interpolation data record
In the AKD, a single setpoint (target position, Subindex 1) is supported for the linear inter-
polation. After the last item of an interpolation data record is written to the devices input buf-
fer, the buffer pointer is automatically incremented to the next buffer.
Index
60C1h
Name
Interpolation data record
Object code
ARRAY
Data type
INTEGER32
Category
optional
Subindex
0
Description
highest sub-index supported
Data type
UNSIGNED8
Category
mandatory
Access
R/O
PDO mapping
not possible
Value range
1
Default value
1
Subindex
1
Description
Interpolation target position in counts, the first parameter of inter-
polation function
Category
mandatory
Access
R/W
PDO mapping
possible
Value range
INTEGER32
Default value
no
A set-point value of the Interpolation data record is only taken, if beside the state machine
state "Operation Enable"also the bit 4 of the DS402 controlword (Enable Interpolation, see
"Object 6040h: Control word (DS402)" (
p. 132)) is set.
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Kollmorgen | kdn.kollmorgen.com | October 2017
