Elmo DSP 402 User Manual
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
86
Object 0x60C2: Interpolation time period
This object is used to define the relative time taken between two set points for the
interpolation position modes. The interpolation time unit is given in 10
This object is used to define the relative time taken between two set points for the
interpolation position modes. The interpolation time unit is given in 10
interpolation time index
seconds.
The interpolation time period can be changed only when the interpolated mode is
inactive.
The interpolation time period can be changed only when the interpolated mode is
inactive.
Object description:
Index 60C2h
Name
Name
Interpolation time period
Object code
RECORD
Data type
Interpolation time period (object 0x80)
Category Optional
Entry description:
Sub-index 0
Description
Description
Number of entries
Entry category
Mandatory
Access Read
only
PDO mapping
Yes
Value range
2
Default value
2
Sub-index 1
Description
Description
Interpolation time unit
Entry category
Mandatory
Access Read/Write
PDO mapping
PDO mapping
Yes
Value range
1..255 msec
Default value
1
Sub-index 2
Description
Description
Interpolation time index
Entry category
Mandatory
Access Read
only
PDO mapping
No
Value range
-3 , -4 (refer to
Appendix B
)
Default value
-3
The interpolated time period is always in milliseconds (10
-3
seconds) regardless of
sub-index 2, Interpolation time index.