Cyclic Synchronous Position Mode (Csp) - Parker FL20-CA 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
Gear ratio
Position offset 60 B0
+ Position regulator
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
+
Motor Max.
+
speed limit
2003 h : 02h
607 Fh
Speed
caculation
Torque offset
60B2 h
+
+
Torque limit
Filter Torque regulator
6072 h
Actual torque feedback
6077 h
159
Mandatory
Optional
Optional
Optional
Optional
Optional
Speed regulator
+
2001 h : 02 h
2001 h : 03 h
-
Motor Encoder