YASKAWA SGD7S-1R9D Product Manual page 467

14.10 Interpolated Position Mode
Interpolation Time Period (60C2 hex) (Object Shared by
Mode 1 and Mode 2)
This object defines the interpolated position reference period for Interpolation Position Mode.
If DC Sync0 Mode is selected, the interpolation time period is automatically stored as the
Sync0 Cycle Time. If DC Free-Run Mode is selected, set the object manually.
Index
60C2 hex
Interpolation time = (Interpolation time period (60C2 hex: 01)) × 10
Note: You can change this object only under the following conditions.
Manufacturer Interpolation Data Configuration for 1st Pro-
file (2730 hex) (Mode 2 Object)
This object sets how to use the interpolation position reference in interpolation data record for
1st profile (27C0 hex).
Index
2730 hex
 2730 Hex: 3 Buffer Organization
Value (Method)
Note: Do not change this value while enable interpolation (6040 hex bit 4) is 1.
14-36
Subin-
Name
dex
0 Number of entries
Interpolation time
1
period value
Interpolation time
2
index
• When DC Sync0 Mode Is Selected:
EtherCAT (CoE) is in the Switch ON Disable state.
• When DC Free-run Mode Is Selected:
EtherCAT (CoE) is in the Switch ON Disable state.
Or, EtherCAT (CoE) is in Interpolated Position Mode and enable interpolation equals 0.
Subin-
Name
dex
0 Number of entries
1 Maximum buffer size
2 Actual buffer size
3 Buffer organization
4 Buffer position
5 Size of data record
6 Buffer clear
Position data defini-
7
tion
Position data polar-
8
ity
Behavior after
9 reaching buffer posi-
tion
0 Uses the reference input buffer as a FIFO buffer.
1 Uses the reference input buffer is as a ring buffer.
Data PDO
Access
Type Mapping
USINT RO No
USINT RW No
SINT RW No
Data PDO
Access
Type Mapping
USINT RO No
UDINT RO No
UDINT RW No
USINT RW No
UINT RW Yes
USINT RO No
USINT RO No
USINT RW Yes
USINT RW Yes
USINT RW Yes
Description
Saving to
Value
EEPROM
2
1 to 250 (default:125)
–6 to –3 (default: –3)
Interpolation time index (60C2 hex: 02)
Saving to
Value
EEPROM
9
254
254
0 or 1 (default: 0)
1 to 254 (default: 1)
1
0 or 1 (default: 0)
0 or 1 (default: 1)
0 or 1 (default: 0)
0 or 1 (default: 0)
No
No
No
[s]
No
No
No
No
No
No
No
No
No
No