0x60C2 - Interpolation time period
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.