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In addition to the interpolation between current and target position, a drive in IP mode might extrapolate the motion for a limited amount of time. The overall behavior is determined by the maximum buffer size, buffer type, interpolation period and SYNC rate. The default implementation in canopen_402 should work for a buffer size of 1 and an interpolation period that matches to the SYNC interval.

There is no direct way to write a bunch of set-points, because this is not supported by all vendors. You could try to increase the interpolation period, but it might lead to overflow errors. As a last resort you could subclass Motor402 to provide a custom mode handler with a sophisticated buffer management.