Cyclic Synchronous Position Mode (Csp) - Parker FL-20-C Series Product Manual

6071h: target torque
6087h: torque slope
6060h: modes of operation

7.6 Cyclic Synchronous Position Mode (CSP)

In this mode of operation, the host controller generates the position references and gives the
target position in 607Ah to the servo drive using cyclic synchronization. Position control, speed
control, and torque control are performed by the servo drive.
Motor position feedback
Position offset 60 B0 Gear ratio
6091 h : 01h
6091 h : 02h
Target position 607A
6064h: position actual value
606Ch: velocity actual value
6077h: torque actual value
6061h: Modes of operation display
Speed offset60B1 h
+ Position regulator
2003 h : 02h
-
Filter
+
Motor Max.
+
speed limit
Speed
caculation
Torque offset
60B2 h
+
+
Torque limit
Torque regulator
6072 h
Actual torque feedback
150
+
607 Fh
-
Motor Encoder
6077 h
Mandatory
Optional
Optional
Optional
Optional
Optional
Speed regulator
2001 h : 02 h
2001 h : 03 h