Elmo DSP 402 User Manual

CANopen DSP 402 Implementation Guide 

MAN-CAN402IG (Ver. 1.2) 

 

 

91 

In Interpolated Position mode, the drive executes a time-synchronized motion path. The 
user specifies the value of the reference signal at an initial time, and at fixed-time 
intervals from then on (as in the following figure). 

∆

∆

∆

∆

 

Figure 9: Interpolated Motion 

In the figure, the time interval 

 is set by the object 0x60c2, in milliseconds. The data 

records P0,P1,P2,… (object 0x60C1) to define the motion path data relating to the times 

 

∆

,

,

2

+ ∆

+ ∆,...

The motion path is synchronized to the CAN microsecond timer, as set and corrected by 
the SYNC-Time stamp mechanism.  

The user must specify the data records P0,P1,P2,…fast enough – at an average rate of at 
least one record per 

∆

. The drive can store up to 64 records, so that the path may be 

programmed in bursts in order to relax the feeding real-time requirements. 

In order to enter IP mode, use the controlword (0x6040) to start the motor, and then use 
the modes of operation(0x6060) object to select IP mode. 

You can monitor the mode using the statusword (0x6041) and modes of operation display 
(0x6061). 

The interpolation sub-mode in object 0x60C0 determines the type of interpolation 
performed.  

The Elmo drive supports two types of interpolation: 

 

Linear interpolation (default) 

 

Cubic spline interpolation 

The structure of the 0x60C1 object depends on the interpolation sub-modes. Refer to the 
definition of 0x60C1 to learn more about sub-mode switching.