CANOPEN.SAMPLEPERIOD
Description
This parameter sets the fieldbus sample period (cyclic rate) which is the time between two PDO updates on the fieldbus cyclic channel. Use CANopen objects 60C2 subindex 1 (interpolation time period value) and 2 (interpolation time index) to adjust the CANOPEN.SAMPLEPERIOD over the fieldbus.
Formula:
SamplePeriod (seconds) = Interpolation_Time_Period_Value x 10^ Interpolation_Time_Index
For example, SamplePeriod = 1 x 10 -3 seconds, and this will set CANOPEN.SAMPLEPERIOD = 1000 microseconds. Kollmorgen recommends the following standard cycle rates, 250 µs, 500 µs, 1000 µs, 2000 µs, or 4000 µs.
Examples
Usage
For EtherCat:
The sample period must match the SYNC 0 period when using Distributed Clocks. The drive will not transition to OPERATIONAL mode when the SYNC 0 does not match the sample period.
Code
-->CANOPEN.SAMPLEPERIOD 2000
-->CANOPEN.SAMPLEPERIOD
-->2000 microseconds
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-00-00-000 |
General Information
|
Type |
Read/Write |
|
Units |
Microseconds |
|
Range |
250 to 1000 microseconds in increments of 250 1500 to 8000 microseconds in increments of 500 |
|
Default Value |
2000 |
|
Data Type |
Integer |
|
Stored in Non-Volatile Memory |
Yes |
Variants Supported
All variants are supported
Fieldbus Information
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
CANOPEN.SAMPLEPERIOD |
60c2h |
01h |
Unsigned8 |
- |
- |
Read/Write |
No |
|
CANOPEN.SAMPLEPERIOD |
60c2h |
02h |
Signed8 |
- |
- |
Read/Write |
No |
|
CANOPEN.SAMPLEPERIOD |
68c2h |
01h |
Unsigned8 |
- |
- |
Read/Write |
No |
|
CANOPEN.SAMPLEPERIOD |
68c2h |
02h |
Signed8 |
- |
- |
Read/Write |
No |
