Object 0x60C2: Interpolation time period

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

86

Object 0x60C2: Interpolation time period

This object is used to define the relative time taken between two set points for the interpolation position modes. The interpolation time unit is given in 10interpolation time index seconds.

The interpolation time period can be changed only when the interpolated mode is inactive.

Object description:

 

Index

60C2h

 

Name

Interpolation time period

 

Object code

RECORD

 

Data type

Interpolation time period (object 0x80)

 

Category

Optional

Entry description:

 

 

 

 

 

Sub-index

0

 

Description

Number of entries

 

Entry category

Mandatory

 

Access

Read only

 

PDO mapping

Yes

 

Value range

2

 

Default value

2

 

 

 

 

Sub-index

1

 

Description

Interpolation time unit

 

Entry category

Mandatory

 

Access

Read/Write

 

PDO mapping

Yes

 

Value range

1..255 msec

 

Default value

1

 

 

 

 

Sub-index

2

 

Description

Interpolation time index

 

Entry category

Mandatory

 

Access

Read only

 

PDO mapping

No

 

Value range

-3 , -4 (refer to Appendix B)

 

Default value

-3

The interpolated time period is always in milliseconds (10-3seconds) regardless of sub-index 2, Interpolation time index.

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Image 92
Elmo DSP 402 manual Object 0x60C2 Interpolation time period, Index, 60C2h, Sub-index