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

FieldbusA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design	Parameter	Index	Sub-Index	Data Type	Float Scale	Units	Access	PDO Mappable
EtherCATEtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs COE and CANopen	CANOPEN.SAMPLEPERIOD	0x60C2	0x1	UNSIGNED8	-	-	RW	False
	CANOPEN.SAMPLEPERIOD	0x60C2	0x2	SIGNED8	-	-	RW	False