Delta ASDA A2-E

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