0x60C4 - Interpolation data configuration
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x60C4 | 0x01 | Maximum buffer size | UINT32 | RO | No | No | UINT32 | 0x00000010 | - |
0x60C4 | 0x02 | Actual buffer size | UINT32 | RW | No | No | UINT32 | 0x00000010 | - |
0x60C4 | 0x03 | Buffer organisation | UINT8 | RW | No | No | 0 to 1 | 0x00 | - |
0x60C4 | 0x04 | Buffer position | UINT16 | RW | No | No | UINT16 | 0x0000 | - |
0x60C4 | 0x05 | Size of data record | UINT8 | WO | No | No | UINT8 | - | - |
0x60C4 | 0x06 | Buffer clear | UINT8 | WO | No | No | 0 to 1 | - | - |
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.
The maximum buffer size and the actual buffer indicate respectively the absolute number and the actual size of data that can be stored in the buffer.
The buffer organisation indicates if the buffer is organized as a FIFO or as a ring (Ring). emcl works only with buffer organized like FIFO.
The buffer position is only used in buffers organized as ring and therefore in emcl is not used.
Size of data record indicates the number of bytes used in each interpolation data. In emcl, as only uses linear interpolation in which each data corresponds to a position, this value always will be 4.
The value of sub-index 0x01 is given in number of interpolation data records.
The value of sub-index 0x02 is given in number of interpolation data records.
If sub-index 0x03 is 0x00 it indicates a FIFO buffer organisation, if it is 01h it indicates a ring buffer organisation. All other values are reserved.
The value of sub-index 0x04 is dimensionless indicating the next free buffer entry point.
The value of sub-index 0x05 is given in bytes.
If 0x00 is written to sub-index 0x06 it clears the buffer inputs, disables the access, and clears all ip data records. If 01h is written to sub-index 0x06, this enables access to the input buffers. All other values are reserved.