Chapter 6 Object Dictionary Entries
ASDA A2-E
6-34
Revision April, 2015
Access RW
PDO Mapping
Yes
Value Range
INTEGER32
Default Value
0
Comment Unit:
32-bit
CMD_PUU
Sub-Index 2
Description
Velocity – Pos_Cmd difference
Data Type
INTEGER16
Access RW
PDO Mapping
Yes
Value Range
INTEGER16
Default Value
0
Comment
△
X
i
= (X
i+1
– X
i-1
)/2
(It is also the same as velocity.)
Unit: PUU
Object 60C2
h
: Interpolation time period
INDEX 60C2
h
Name
Interpolation time period
Object Code
RECORD
Data Type
UNSIGNED8
Access RW
PDO Mapping
Yes
Comment
The unit of
the interpolation time unit
is
given in 10
interpolation time index
seconds
Sub-Index 0
Description
Number of entries
Data Type
UNSIGNED8
Access RO
PDO Mapping
No
Value Range
2
Default Value
2
Sub-Index 1
Description
Interpolation time units
Data Type
UNSIGNED8
Access RW
