CANopen Technical Guide | ASDA-A2 P1-01 = 0x0C, Set 【 Interpolation time period:60C2 h 】 to predict SYNC receiving period. 60C2 h Sub-1 for Interpolation time units. The range is from 1ms to 20ms. 60C2 h Sub-2 for Interpolation time index. The value is always -3 meaning the interpolation time unit is 10 -3 second. ④ Set PDO Communication & Mapping parameters via SDO. Example: Set 1400 h Sub-1 for PDO RxCobId. Set 1400 h Sub-2 for PDO receive type [0x01] normally. ⑤ Drive PDO Rx: If using these steps, Host need to send SYNC and PDO data every Communication cycle.
P1-01 = 0x0B, 60C1 h Sub-1 for Pos Cmd (Low word) 60C1 h Sub-2 for Pos Cmd (High word) 60C1 h Sub-3 for Symmetrical Difference (optional) 6040 h Sub-0 for ControlWord. P1-01 = 0x0C, 60C1 h Sub-1 for Pos Cmd (32-bit) ⑥ Drive PDO Tx content could be set up to requirements of Host. 6040 h Sub-0 for ControlWord. ⑦ Receive NMT from Host to start or stop operation.
Note ： Because of difference of each oscillator, users must change parameter P3-09 to make drive to automatically modify internal timer to match SYNC object period) 3.2.3 Associated Object List (Please refer to the following “Details of Objects” section for more detailed descriptions) Revision Sep, 2012 17 Index Name Type Attr. 6040 h Controlword UNSIGNED16 RW 6041 h Statusword UNSIGNED16 RO 6060 h Modes of operation INTEGER8 RW 6061 h Modes of operation display INTEGER8 RO 6093 h Position factor UNSIGNED32 RW 60C0 h Interpolation sub mode select INTEGER16 RW 60C1 h Interpolation data record ARRAY RW