Trajectory interpolation type selection:

   0 - (default) 2nd order linear interpolation
   1 - cubic interpolation

The purpose of the trajectory interpolation routines is to generate intermediate position, velocity, and acceleration commands between set points sent to the servos by GPL.  These interpolated values are computed at the servo update rate and are available for use by the feedback loop.  In order to perform this interpolation, the set point commands from GPL will be delayed by a fixed number of GPL trajectory update ticks. For the 2nd order interpolation, the delay is 1 trajectory tick, while the delay for the cubic interpolation is 2 trajectory ticks.

Major GPL trajectory update period. This value is typically an even multiple of the servo's position loop update period.  The value must agree with GPL's trajectory tick value (see DataID 600).

A servo level delay (in units of the servo's update period, e.g. 125 usec) before the latest trajectory setpoint is used by the interpolator. The default value is 0.

(Servo Network) Maximum number of consecutive trajectory extrapolations permitted during trajectory motion execution. The servo code automatically extrapolates the set point if none is received from the GPL trajectory generator at the update period. This parameter limits the number of consecutive extrapolations allowed.

For single controller configurations, the default value is 0.  For multiple controllers configurations, the default value is 8.

If the limit is exceeded, the servo will report a "*Trajectory extrapolation limit exceeded*" error (-3132) and the motor power will be shut down automatically.

Note: If this limit is set too high, it will result in excessive motor movement before power is disabled. A value of 8 is equivalent to 32 msec for the default servo configuration.

Note: The extrapolation is based on a 1st order estimation. It is possible for the motor to accumulate a large position error after a number of consecutive extrapolations.  Should this occur, you should either decrease this limit or increase the "soft envelope error limit" (DataId 10302).

(GSB single axis controller)  Some servo grippers are equipped with a spring that maintains the grasp of a part in the hand if motor power is disabled.  However, if this type of gripper is open when power is disabled, the fingers can quickly snap shut.  These parameters can replace the uncontrolled snapping action with a slow controlled closing motion.

If these parameters are set, when a motor power disable sequence begins, an internal brake enable signal is issued and a motion will automatically be generated to move the axis to the specified position (in motor counts) at the speed dictated by the specified motion time.  By the time that the brake delay period is completed and motor power is disabled, the gripper should have been moved to a close position to avoid the snapping action.  If a part is being held by the gripper, no error will be generated if the fingers cannot be fully closed to the specified position.

By default, 10426 is zero, which disables this function.