I could able to control the CANopen CiA402 servo drive in Profile position mode (Index $6060=1) using CAN command using the master MC4N-ECAT. Can we control the same system in Interpolated mode (Index $6060=7) using the same controller? If yes, can you please share the procedure?
On EtherCAT, the Trio master does not support Interpolated mode directly. Sometimes this mode is used when CSP (6060 = 8) is not available in which case mode 7 is used in a way that is similar to mode 8.
Going over completely to mode 7 can be done. It will not be a Trio axis and instead the commands will be set by values in the VR variables mapped by PDO to the drive.
I suggest you discuss the options with your Trio Distributor.