|
Index |
Sub Index |
Name |
Data Type |
Acc. |
Pdo Map. |
NVM |
Value range |
Default value |
Units |
|---|---|---|---|---|---|---|---|---|---|
|
0x60C2 |
0x01 |
Interpolation time period value |
UINT8 |
RW |
Yes |
No |
UINT8 |
1 |
10interpolation time index sec |
|
0x60C2 |
0x02 |
Interpolation time index |
INT8 |
RW |
Yes |
No |
-4 to 0 |
-3 |
- |
This object indicates the configured interpolation cycle time.
The interpolation time period (sub-index 01h) value is given in 10interpolation time index seconds. The interpolation time index (sub-index 02h) is dimensionless.
emcl only works with values for Interpolation time index between -4 to 0 (hundreds of microseconds to seconds).
Interpolation position, cyclic synchronous position and cyclic synchronous velocity mode work with a minimum interpolation time index of -3 (milliseconds). Only the cyclic synchronous torque mode can work with an interpolation time index of -4.