Kollmorgen S300

4.9.3.3 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 ASCII - parameter PTBASE
(given in multiples of 250 Mikroseconds). Both values must be written to fix a new interpolation time
period. PTBASE will only be updated then.
Index 60C2
h
Name
Interpolation time period
Object code
RECORD
Data type
Interpolation time period record (0080h)
Category
optional
Subindex 0
Description
number of entries
Category
mandatory
Access
ro
PDO mapping
not possible
Value range
2
Default value
2
Subindex 1
Description
Interpolation time units
Category
mandatory
Access
rw
PDO mapping
possible
Value range
UNSIGNED8
Default value
1
Subindex 2
Description
Interpolation time index
Category
mandatory
Access
rw
PDO mapping
possible
Value range
-123 ... 63
Default value
-3
4.9.3.4 Object 60C3h: Interpolation sync definition
In the S300/S700 the generally used SYNC-object is used for synchronization purposes.
Therefore only a fixed value is accepted for subindex 1.
Index 60C3
h
Name
Interpolation sync definition
Object code
ARRAY
Data type
UNSIGNED8
Category
optional
Subindex 0
Description
number of entries
Category
mandatory
Access
ro
PDO mapping
not possible
Value range
2
Default value
1
Subindex 1
Description
Synchronize on group
Category
mandatory
Access
rw
PDO mapping
possible
Value range
UNSIGNED8
Default value
0
CANopen for S300/S700 79
Kollmorgen 11/2018 CANopen Drive Profile