Object 60C2H: Interpolation Time Period - Kollmorgen S300 Interface Manual

Kollmorgen
4.9.3.3

Object 60C2h: Interpolation time period

The interpolation time period is used for the PLL (phase locked loop) synchronized position modes.
The unit (subindex 1) of the time is given in 10
Only multiples of 1 ms are allowed. The two values define the internal ASCII - parameter PTBASE
(given in multiples of 250 Mikroseconds). Both values must be written to fix a new interpolation time
period. PTBASE will only be updated then.
Index
Name
Object code
Data type
Category
Subindex
Description
Category
Access
PDO mapping
Value range
Default value
Subindex
Description
Category
Access
PDO mapping
Value range
Default value
Subindex
Description
Category
Access
PDO mapping
Value range
Default value
4.9.3.4 Object 60C3h: Interpolation sync definition
In the S300/S700 the generally used SYNC-object is used for synchronization purposes.
Therefore only a fixed value is accepted for subindex 1.
Index
Name
Object code
Data type
Category
Subindex
Description
Category
Access
PDO mapping
Value range
Default value
Subindex
Description
Category
Access
PDO mapping
Value range
Default value
CANopen for S300/S700
11/2018
interpolation time index
60C2
h
Interpolation time period
RECORD
Interpolation time period record (0080h)
optional
0
number of entries
mandatory
ro
not possible
2
2
1
Interpolation time units
mandatory
rw
possible
UNSIGNED8
1
2
Interpolation time index
mandatory
rw
possible
-123 ... 63
-3
60C3
h
Interpolation sync definition
ARRAY
UNSIGNED8
optional
0
number of entries
mandatory
ro
not possible
2
1
1
Synchronize on group
mandatory
rw
possible
UNSIGNED8
0
CANopen Drive Profile
seconds.
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