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.


  • 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