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EtherCAT Mode

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ASDA-A3

13.3.6 Cyclic Synchronous Velocity mode

13

The controller plans the speed in Cyclic Synchronous Velocity (CSV) mode and transmits PDOs

to the servo drive periodically. In this mode, when the controller transmits each PDO, it

simultaneously transmits the target velocity 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 velocity (60FFh)

Speed

Max profile velocity (607Fh) command

and limit

Velocity offset (60B1h) function

Quick stop deceleration

(6085h)

Acceleration

limit function

Controlword (6040h)

Torque actual value (6077h)

Speed

trajectory

generator

Positive

torque limit

(60E0h)

Negative

torque limit

(60E1h)

Max torque

(6072h)

Filter

(2106h)

(2124h)

Velocity demand value

(606Bh)

Speed

control

++

Torque

control

loop

+

loop

Torque

offset

(60B2h)

Servo

motor

M

Velocity actual value (606Ch)

Position actual value (6064h)

Position

factor

6093h sub2

6093h sub1

Encoder

Operation steps:

1. Set OD 6060h to 09h to set the mode as Cyclic Synchronous Velocity mode.

2. Set the target velocity (OD 60FFh) to 0. In Cyclic Synchronous Velocity mode, the servo

motor starts operating once the servo drive is switched to Servo On (Step 3). Therefore,

setting the target velocity (OD 60FFh) to 0 is to ensure that the motor maintains at 0 rpm at

the moment of Servo On.

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).

4. Set OD 60FFh for the target velocity.

13-36

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