Kollmorgen AKD User Manual

7.9.2.3 Object 60C2h: Interpolation time period
The interpolation time period is used for the PLL (phase locked loop) synchronized position modes. The unit (sub-
index 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 ASCII - parameter PTBASE (given in mul-
tiples of 250 Mikroseconds). Both values must be written to fix a new interpolation time period. PTBASE 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 number of entries, 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 1
Subindex 2
Description Interpolation time index
Category mandatory
Access R/W
PDO mapping not possible
Value range INTEGER16
Default value 1
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Kollmorgen AKD Specifications

General

Control Modes	Torque, Velocity, Position
Communication Interfaces	EtherCAT, CANopen
Feedback Options	Resolver
Safety	STO (Safe Torque Off), SS1 (Safe Stop 1)
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overtemperature
Operating Temperature Range	0°C to 55°C
Humidity	5% to 95% non-condensing