Cyclic Synchronous Position Mode - Delta ASDA-A3 Series User Manual

EtherCAT Mode

13.3.5 Cyclic Synchronous Position mode

The controller plans the path in Cyclic Synchronous Position (CSP) mode and transmits PDOs
13
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)
Max profile velocity
(607Fh)
Quick stop deceleration
(6085h)
Controlword (6040h)
Torque actual value (6077h)
Velocity actual value (606Ch)
Position window (2136h)
Statusword target reached (6041h [Bit 10])
Position actual value (6064h)
Following error actual value (60F4h)
Following error window (6065h)
Servo alarm AL009 (2001h)
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
13-34
Position
limit
function
Position
Speed
trajectory
limit
generator
function
Acceleration
limit function
+
Window
comparator
-
-
+
Position demand
value (6062h)
Window
comparator
Bit 4 Bit 3 Bit 2 Bit 1
0 0 1
0 0 1
0 1 1
Positive
torque limit
(60E0h)
Negative
torque limit
(60E1h)
Position demand
value (60FCh)
Filter
Position
(2108h)
factor
Position
(2119h to
6093h sub1
control
211Ch)
6093h sub2
loop
(2124h)
(2144h)
Position
factor
6093h sub2
6093h sub1
Bit 0
1 0 Shutdown.
1 1 Switch on (ready for Servo On).
1 1 Enable operation (Servo On).
Max torque
(6072h)
Velocity
offset
(60B1h)
Speed Torque
+
+
+
+
control
control
+
loop
loop
Torque
offset
(60B2h)
Description
ASDA-A3
Servo
motor
M
Encoder