PD4-E CANopen Online Manual

60C2h Interpolation Time Period

Function

This object contains the interpolation time.

Object description


Index 60C2h
Object name Interpolation Time Period
Object Code RECORD
Data type INTERPOLATION_TIME_PERIOD
Savable yes, category: application
Access read only
PDO mapping no
Allowed values  
Preset value  
Firmware version FIR-v1426
Change history  

Value description


Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values  
Preset value 02h


Subindex 01h
Name Interpolation Time Period Value
Data type UNSIGNED8
Access read / write
PDO mapping no
Allowed values  
Preset value 01h


Subindex 02h
Name Interpolation Time Index
Data type INTEGER8
Access read / write
PDO mapping no
Allowed values  
Preset value FDh

Description

The subindices have the following functions:
  • 01h: Interpolation time.
  • 02h: Power of ten of the interpolation time: must have the value -3 (corresponds to the time basis in milliseconds).

The following applies here: cycle time = value of 60C2h:01h * 10 value of 60C2:02 seconds.

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