YASKAWA SGD7S-xxxDA0 series Product Manual page 493

15.10 Interpolated Position Mode
Interpolation Time Period (60C2h) (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
60C2h
Interpolation time = (Interpolation time period (60C2h: 01)) × 10
Note: You can change this object only under the following conditions.
Manufacturer Interpolation Data Configuration for 1st Pro-
file (2730h) (Mode 2 Object)
This object sets how to use the interpolation position reference in interpolation data record for
1st profile (27C0h).
Index
2730h
 2730h: 3 Buffer Organization
Value (Method)
Note: Do not change this value while enable interpolation (6040h bit 4) is 1.
15-36
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
Interpolation time index (60C2h: 02)
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)
[s]
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
No
No
No
No
No
No
No
No
No
No