Control Techniques Nidec SI-EtherCAT User Manual page 83

7.4.2 0x60C1 Interpolation_data_record
This object is used to specify the target position. Linear interpolation is used to generate position
demand values every 250 µs. The position is specified in user-defined position units. The value is
written into sub-index 1.
Table 7-51 0x60C1 Interpolation_data_record
0x60C1 Interpolation_data_record
Sub-index 0
Access: RO
Default: 1
PDO Mappable: No
Motion Profiles: IP
Description: This object is used to specify the target position.
Sub-index 1
Access: RW
Default: N/A
PDO Mappable: RxPDO
Description: The set-point.
7.4.3 0x60C2 Interpolation_time_period
Table 7-52 Interpolation_time_period
0x60C2 Interpolation_time_period
Sub-index 0
Access: RO
Default: 2
PDO Mappable: No
Motion Profiles: CSP, CSV, CST, IP
Description: The number of the last sub-index in this object.
Sub-index 1
Access: RW
Default: 250
PDO Mappable: No
The number of time units between interpolator restarts. A time unit is defined by sub-index 2.
Description: The interpolator time period value will be checked to ensure that it is valid. Valid values are
250 µs, 500 µs or any multiple of 1 ms. Selecting other values will result in an error indication.
Sub-index 2
Access: RW
Default: -6 (a time unit of 1 µs)
PDO Mappable: No
This specifies the time unit for the interpolation time period. Sub-index 2 specifies the unit
Description:
exponent. The time unit, therefore, is 10
time unit to be 1 µs, and the longest to be 1 s.
SI-EtherCAT User Guide
Range: N/A
31 31
Range: -2 to 2 -1
Range: N/A
Range: 0 to 255
Range: -6 to 0
(sub-index 2)
Size: 1 byte Unit: N/A
Type: Unsigned integer / USINT
Update rate: N/A
Size: 4 bytes Unit: N/A
Type: Signed integer / DINT
Update rate: Every network cycle period
Size: 1 byte Unit: N/A
Type: Unsigned integer / USINT
Update rate: N/A
Size: 1 byte Unit: (sub-index 2)
Type: Unsigned integer / USINT
Update rate: On CiA402 transition to
SWITCH_ON
Size: 1 byte Unit: N/A
Type: Signed integer / SINT
Update rate: On CiA402 transition to
SWITCH_ON
. The range of values allows for the shortest
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