Delta ASDA-A3 Series User Manual page 741

CANopen Mode
Object function:
This object only works in IP Mode. The interpolation cycle time is calculated by two objects,
OD 60C2h sub1 and OD 60C2h sub2. The calculation is as follows:
12
Example: if you want to set the interpolation cycle time to 2 ms, set OD 60C2h sub1 to 2 and
OD 60C2h sub2 to -3.
Object 60C5h: Max acceleration
Index
Name
Object code
Data format
Access
PDO mapping
Setting range
Default
Unit
Object function:
The time slope set by this object is the time required to accelerate from 0 rpm to 3,000 rpm.
Object 60C6h: Max deceleration
Index
Name
Object code
Data format
Access
PDO mapping
Setting range
Default
Unit
Object function:
The time slope set by this object is the time required to decelerate from 3,000 rpm to 0 rpm.
12-80
Interpolation cycle time
Interpolation cycle time = 2 × 10
60C5h
Max acceleration
VAR
UNSIGNED32
RW
Yes
1 - 65500
200
ms
60C6h
Max deceleration
VAR
UNSIGNED32
RW
Yes
1 - 65500
200
ms
= 60��2ℎ sub1 × 10
−3
= 0.002 ��
= 2 ����
60C2h sub2
ASDA-A3