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EtherCAT Mode
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ASDA-A3
13.3.5 Cyclic Synchronous Position mode
13
The controller plans the path in Cyclic Synchronous Position (CSP) mode and transmits PDOs
to the servo drive periodically. In this mode, when the controller transmits each PDO, it
simultaneously transmits the target position and controlword data to the servo drive. The
velocity offset and torque offset can be used as the velocity and torque feed forward control
setting.
Target position
(607Ah)
Software position
limit (607Dh)
Position offset
(60B0h)
Position
limit
function
Max profile velocity
(607Fh)
Speed
limit
function
Quick stop deceleration
(6085h)
Acceleration
limit function
Controlword (6040h)
Position
trajectory
generator
Torque actual value (6077h)
Velocity actual value (606Ch)
Pulse range for position reached (2136h)
Position demand
value (60FCh)
Position
factor
6093h sub1
6093h sub2
Filter
(2108h)
(2119h to
211Ch)
(2124h)
(2144h)
Positive
torque limit
(60E0h)
Negative
torque limit
(60E1h)
Max torque
(6072h)
Velocity
offset
(60B1h)
Position
control
++
Speed
control
++
Torque
control
loop
loop
+
loop
Torque
offset
(60B2h)
Servo
motor
M
Encoder
Statusword target reached (6041h [Bit 10]) Window
+
comparator
-
Position actual value (6064h)
-
Following error actual value (60F4h)
+
Position
factor
6093h sub2
6093h sub1
Following error window (6065h)
Position demand
value (6062h)
Servo alarm AL009 (2001h) Window
comparator
Operation steps:
1. Set OD 6060h to 08h to set the mode as Cyclic Synchronous Position mode.
2. Set OD 607Ah for the target position (unit: PUU).
3. Set the Controlword (OD 6040h). Follow these steps for operation. Steps 3.1 and 3.2 are to
bring the servo drive's state machine into the ready state. For the description of the state
machine, refer to the OD 6040h description in Section 13.4.
Step
3.1
3.2
3.3
Bit 4
0
0
0
Bit 3
0
0
1
Bit 2
1
1
1
Bit 1
1
1
1
Bit 0
0
1
1
Description
Shutdown.
Switch on (ready for Servo On).
Enable operation (Servo On).
13-34
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