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?
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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.