ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 171)

10.4.1 Interpolated Position (IP) Commands
Note: Set and get commands are allowed for Axis objects and only set commands are
allowed for the Vector and Group objects.
The following commands are implemented in IP mode:
Object Index
and Subindex
Full Command Short
Command
Elmo Short
Command
Description
0x6081, 0x00 ProfileVelocity prv sp Profile velocity
0x6083, 0x00 ProfileAcceleration pac ac Profile acceleration
0x6084, 0x00 ProfileDeceleration pdc dc Profile deceleration
0x6085, 0x00 QuickStopDeceleration qsdc sd Quick stop deceleration
0x6064, 0x00 ProfileActualPosition pap px Profile actual position
(for axis only)
0x606C, 0x00 ProfileActualVelocity pav vx Profile actual velocity
(for axis only)
0x6040, 0x00
0x6041, 0x00
0x60C1, 0x01
(for more view
PDO Mapping
table)
InterpolationActive ipa - Interpolation mode activate
command
0x60C0, 0x00 InterpolationSubMode ipsm - Interpolation sub mode
0x60C2, 0x00 InterpolationTimePeriod iptp - Interpolation time period
(Must be equal to the sync
period. The default value of
the syn period is the value
set by the last sync
command.)
0x60C1, 0x00
(for more view
PDO Mapping
table) InterpolationDataRecord ipdr Interpolation data record
(See Section 11.8 DS402
PDO Mapping Table)
0x60C4, 0x02 InterpolationBufferSize ipbs - Interpolation buffer size
0x60C4, 0x03 InterpolationBufferOrganiz
ation
ipbo - Interpolation buffer
organization
0x60C4, 0x04 InterpolationBufferPosition ipbp - Interpolation buffer
Maestro Software Manual DS402 Command Reference
MAN-MASSW (Ver. Q)
10-26