CL3-E CANopen/USB Technical Manual

60C4h Interpolation Data Configuration

Function

This object provides the maximum buffer size, indicates the configured buffer organisation of interpolation data, and provides objects to define the size of the data record and to clear the buffers. This object is used to enable the drive device to receive the needed data in advance. It also is used to store the positions and further data sent by the control device.

Object description


Index 60C4h
Object Name Interpolation Data Configuration
Object Code RECORD
Data type INTERPOLATION_DATA_CONFIGURATION
Saveable yes, category: application
Access Read only
PDO Mapping No
Admissible Values  
Specified Value  
Firmware Version FIR-v1512
Change History

Firmware Version FIR-v1540: Table entry "Access" at sub-index 05 modified from "Read/write" to "Write only".

Firmware Version FIR-v1540: Table entry "Access" at sub-index 06 modified from "Read/write" to "Write only".

Firmware Version FIR-v1626: Entry "Saveable" modified from "No" to "yes, category: application".


Value description


Sub-index 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access Read only
PDO Mapping No
Admissible Values  
Specified Value 06h


Sub-index 01h
Name MaximumBufferSize
Data type UNSIGNED32
Access Read/write
PDO Mapping No
Admissible Values  
Specified Value 00000001h


Sub-index 02h
Name ActualBufferSize
Data type UNSIGNED32
Access Read/write
PDO Mapping No
Admissible Values  
Specified Value 00000001h


Sub-index 03h
Name BufferOrganization
Data type UNSIGNED8
Access Read/write
PDO Mapping No
Admissible Values  
Specified Value 00h


Sub-index 04h
Name BufferPosition
Data type UNSIGNED16
Access Read/write
PDO Mapping No
Admissible Values  
Specified Value 0001h


Sub-index 05h
Name SizeOfDataRecord
Data type UNSIGNED8
Access Write only
PDO Mapping No
Admissible Values  
Specified Value 04h


Sub-index 06h
Name BufferClear
Data type UNSIGNED8
Access Write only
PDO Mapping No
Admissible Values  
Specified Value 00h

Description

The value of sub-index 01h contains the maximum possible number of interpolation data records.

The value of sub-index 02h contains the actual number of interpolation data records.

If sub-index 03h is "00" indicates a FIFO buffer organisation, if it is "01" it indicates a ring buffer organisation.

The value of sub-index 04h is dimensionless indicating the next free buffer entry point.

The value of sub-index 05h is given in byte. If the value "00" is written to sub-index 06h this clears the buffer inputs, disables the access, and clears all interpolated data records. If "01" is written to sub-index 06h, this enables access to the input buffers. All other values are reserved.

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