Parker MDC Series, User Manual

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Parker Hannifin Manufacturing Srl user’s manual MDC
48
6.1.4.1 Object 60C0
h
: Interpolation sub mode select
For the interpolated position mode a manufacturer may offer different interpolation
algorithms. This object reflects or changes the actually chosen interpolation mode.
OBJECT DESCRIPTION
INDEX 60C0h
Name Interpolation sub mode select
Object Code VAR
Data Type
INTEGER16
Category Optional
ENTRY DESCRIPTION
Access rw
PDO Mapping Possible
Value Range
0..-2
Default Value 0
DATA DESCRIPTION
Value Description
-2 Cubic interpolation only position
-1 Cubic interpolation speed+position
0 Linear interpolation
+1..+32767 reserved
6.1.4.2 Object 60C1
h
: Interpolation data record
The
interpolation data record are the data words which are necessary to perform the
interpolation algorithm. The number N of data words in the record is defined by interpolation
data configuration . The interpretation of the data words in interpolation data record may vary
with the different possible interpolation modes as set by the interpolation sub mode select .
For the linear interpolation mode each interpolation data record simply can be regarded as a
new position set-point. To describe a cubic spline interpolation e.g., four or more data words
are needed for the spline coefficients, and further interpolation parameters.
After the last item of an
interpolation data record is written to the devices input buffer, the
pointer of the buffer is automatically incremented to the next buffer position.
OBJECT DESCRIPTION
INDEX 60C1h
Name Interpolation data record
Object Code ARRAY
Data Type
INTEGER32
Category Optional