Recommended Configuration; Cyclic Synchronous Velocity Mode（Csv; Related Objects - Parker FL-20-C Series Product Manual

6065h 00h

7.6.3 Recommended configuration

The basic configuration for the CSP mode is described in the following table:
RPDO
6040h: control word
607Ah: target velocity
6060h: modes of operation
7.7 Cyclic Synchronous Velocity Mode（CSV）
In this mode of operation, the host controller gives the target speed in 60FFh to the servo drive
using cyclic synchronization. Speed control and torque control are performed by the servo
drive.
Max speed limit
Speed offset60B1h +
607 Fh
Target speed60 FFh

7.7.1 Related objects

Bit
0 Switch on
1 Enable voltage
2 Quick stop
3 Enable operation
8 Halt
Following error
window
6041h: status word
6064h: position actual value
6061h: Modes of operation display
Torque offset
60B2h
Speed regulator
2001h : 02h
2001h : 03h
-
Fig 7.7.1 Configuration block diagram for CSV mode
Control Word 6040
Name
When the position deviation is higher than
6065h, AL-09 is displayed on the keypad, and
bit13 of the status word is set to 1.
TPDO
+
+
Filter
If bit0 to bit3 are all 1, the servo drive starts
running.
153
Torque limit
Torque regulator
6071h
Actual torque feedback
6077 h
Description
Remarks
Mandatory
Mandatory
Optional
Encoder
Motor