ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 92)

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 10
interpolation 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 -3 seconds) regardless of
sub-index 2, Interpolation time index.