15.10 Interpolated Position Mode
15-35
15
Object Dictionary
15.10
Interpolated Position Mode
Interpolation Submode Select (60C0h) (Object Shared by
Mode 1 and Mode 2)
This object is used to select the submode for the Interpolated Position Mode.
To use Interpolated Position Mode, set this object first.
Data Description
*
If a reference filter is used, the moving average of the interpolation position over the
interpolation time period
(60C2h) is used.
Interpolation Data Record (60C1h) (Object Shared by Mode
1 and Mode 2)
This object gives the interpolation position reference for Interpolated Position Mode.
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
60C0h
0
Interpolation sub
mode select
INT
RW
No
-3 to 0 (default: 0)
No
Value (Method)
Description
0
Selects mode 1 with no position refer-
ence filter.
Interpolation
data record
(60C1h) is used as
the interpolation position reference.
-1
Selects mode 1 with a position reference
filter.
*
-2
Selects mode 2 with no position refer-
ence filter.
Interpolation
data record for 1st profile
(27C0h) and
interpolation
data record for 2nd
profile
(27C1h) are used as the interpolation
position references.
-3
Selects mode 2 with a position reference
filter.
*
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
60C1h
0
Number of entries
USINT
RO
No
1
No
1
Interpolation data
record
DINT
RW
Yes
–2,147,483,648 to
2,147,483,647
(default: 0) [Pos. unit]
No
