ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 93)

Object 0x60C3: Interpolation sync definition
Devices in the interpolation position mode often interact with other devices. Therefore it
is necessary to define a communication object, which is used to synchronize these
interactions. This can be done by the general Sync as described in /3/, or a specific
group-sync-signal. Each reception of this trigger-signal or a specified number of
occurrences of the trigger-signal can synchronize the devices.
Description of synchronize on group:
Value Description
0
General Sync is used
1…255 Reserved
Object description:
Index 60C3h
Name
Interpolation sync definition
Object code ARRAY
Data type UNSIGNED8
Category Optional
Entry description:
Sub-index 0
Description
Number of entries
Entry category Mandatory
Access Read only
PDO mapping No
Value range 2
Default value 2
Sub-index 1
Description
Synchronize on group
Entry category Mandatory
Access Read only
PDO mapping No
Value range UNSIGNED8
Default value 0
Sub-index 2
Description
IP sync every n event
Entry category Mandatory
Access Read/Write
PDO mapping
No
Value range UNSIGNED8
Default value 1
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
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