5.3.86 Object 60C2h: Interpolation time period
The interpolation time period is used for the PLL (phase locked loop) synchronized position
modes. The unit (subindex 1) of the time is given in 10
interpolation time index
seconds.
Only multiples of 1 ms are allowed. The two values define the internal AKD parameter
FBUS.SAMPLEPERIOD (given in multiples of 62.5 Mikroseconds). Both values must be
written to set a new interpolation time period. FBUS.SAMPLEPERIOD will only be updated
then.
Index
60C2h
Name
Interpolation time period
Object code
RECORD
Data type
Interpolation time period record (0080h)
Category
optional
Subindex
0
Description
highest sub-index supported, FBUS.SAMPLEPERIOD
Category
mandatory
Access
R/O
PDO mapping
not possible
Value range
2
Default value
2
Subindex
1
Description
Interpolation time units
Category
mandatory
Access
R/W
PDO mapping
not possible
Value range
UNSIGNED8
Default value
2
Subindex
2
Description
Interpolation time index
Category
mandatory
Access
R/W
PDO mapping
not possible
Value range
INTEGER8
Default value
-3
AKD EtherCAT | 5 Appendix
Kollmorgen | kdn.kollmorgen.com | October 2017
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