ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 175)

Maestro Software Manual DS402 Command Reference
MAN-MASSW (Ver. Q)
10-30
10.4.2.2 Interpolated Position Mode Commands
Description
The DS402 Axis supports two types of interpolation:
• Linear interpolation (default) – ipsm=0
• Cubic spline interpolation – ipsm=-1
Linear interpolation requires only the position specified in the data record (can be
defined by ipdr command or by DS402 using Axis interpolation queue). Refer to the
Elmo CANopen Implementation Guide for information on the structure of the
position data. The velocity at each time point is calculated by finding the difference
between the corresponding position and the position of the previous point as shown
in the following figure.
Time T start
T
Δ
T
Δ
T
Δ
T
Δ
P0
P1 P2
P3
Figure 10-11: Linear Interpolation