Festo CiA 402 Manual page 123

6 Operating modes
Object 1006 _00 : communication_cycle_period
h h
Through the object communication_cycle_period, the time set in μs in the object 60C2
read.
Sub-Index
Description
Access
PDO Mapping
Units
Value Range
Default Value
Object 60C1 : interpolation_data_record
h
The object record interpolation_data_record represents the actual data record. It consists of an entry
for the position value (ip_data_position). The position value is interpreted as an absolute position.
Index
Name
Object Code
No. of Elements
Sub-Index
Description
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
Object 60C2 : interpolation_time_period
h
The synchronisation interval can be set via the object record interpolation_time_period. Via ip_time_in-
dex, the unit (ms or 1/10 ms) of the interval is established, which is parametrised via ip_time_units.
To achieve synchronisation, the setpoint value specification of the controller cascade is
adapted to the external pulse. A change in the synchronisation interval is therefore effect-
ive only after a reset. Therefore, if the interpolation interval is to be revised via the CAN
bus, the parameter set must be saved (
( Chapter 5), so that the new synchronisation interval becomes effective. The synchron-
isation interval must be maintained exactly.
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
00
h
Communication_cycle_period
ro
no
μs
–
1900
h
60C1
h
interpolation_data_record
RECORD
1
01
h
ip_data_position
INT32
rw
yes
position units
–
–
Chapter 4.1) and a reset performed
_01 can be
h h
123