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

EtherCAT Mode

13.3.6 Cyclic Synchronous Velocity mode

The controller plans the speed in Cyclic Synchronous Velocity (CSV) mode and transmits PDOs
13
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)
Max profile velocity (607Fh)
Velocity offset (60B1h)
Quick stop deceleration
(6085h)
Controlword (6040h)
Torque actual value (6077h)
Velocity actual value (606Ch)
Position actual value (6064h)
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
4. Set OD 60FFh for the target velocity.
13-36
Speed
command
and limit
function
Speed
trajectory
generator
Acceleration
limit function
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)
Velocity demand value
Filter
(606Bh)
(2106h)
(2124h)
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)
Torque
Speed
+
+
control control
+
loop loop
Torque
offset
(60B2h)
Description
ASDA-A3
Servo
motor
M
Encoder