Delta ASDA-A3 Series User Manual page 1038

ASDA-A3
Object 60C2h: Interpolation time period
Index
Name
Object code
Data type
Access
PDO mapping
Sub-index
Description
Data type
Access
PDO mapping
Setting range
Default
Sub-index
Description
Data type
Access
PDO mapping
Setting range
Default
Sub-index
Description
Data type
Access
PDO mapping
Setting range
Default
Object function:
This object only works in Interpolated Position mode. The interpolation time period is
calculated by OD 60C2h sub1 and OD 60C2h sub2. The calculation is as follows:
Example:
If you want to set the interpolation time period to 2 ms, set OD 60C2h sub1 to 2 and
OD 60C2h sub2 to -3.
60C2h
Interpolation time period
RECORD
UNSIGNED8
RW
Yes
0
Number of sub-index
UNSIGNED8
RO
No
2
2
1
Interpolation time units
UNSIGNED8
RW
Yes
UNSIGNED8
1
2
Interpolation time index
INTEGER8
RW
Yes
-128 to +63
-3
Interpolation time period = 60��2ℎ sub1 × 10
Interpolation time period = 2 × 10
60C2h sub2
−3
= 0.002 �� = 2 ����
CANopen Mode
12
12-89