60C2h, 68C2h Interpolation time period - Axis #
This object sets the fieldbus cycle time. The unit (subindex 1) of the time is given in 10interpolation time index seconds.
Only multiples of 1 ms are allowed. The two values set CANOPEN.SAMPLEPERIOD (given in multiples of 62.5 microseconds). Both sub-indexes need to be written to update the value.
The drive uses this time to interpolate between two received setpoints in cyclic synchronous mode as well as used to determine when PDO packets should be sent from the drive.
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- If this time is set to longer the actual fieldbus period PDOs may not be received correctly by the master.
Axis 1
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable |
|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 60C2h | 0h | Unsigned8 | - | - | Read only | No |
| Interpolation time period value - Axis 1 | 60C2h | 1h | Unsigned8 | - | - | Read/Write | No |
| Interpolation time index - Axis 1 | 60C2h | 2h | Signed8 | - | - | Read/Write | No |
Axis 2
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable |
|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 68C2h | 0h | Unsigned8 | - | - | Read only | No |
| Interpolation time period value - Axis 2 | 68C2h | 1h | Unsigned8 | - | - | Read/Write | No |
| Interpolation time index - Axis 2 | 68C2h | 2h | Signed8 | - | - | Read/Write | No |
