Cyclic Synchronous Position Mode - YASKAWA SGD7S-1R9D Product Manual

13.3 Position Control Modes

13.3.3 Cyclic Synchronous Position Mode

 Object Setting Procedure
The recommended object setting procedure to use mode 2 is given in the following table.
Step
1
2
3
4
5
6
13.3.3 Cyclic Synchronous Position Mode
The Cyclic Synchronous Position Mode is used for the interpolated positioning in the same way
as the Interpolated Position Mode. In this mode, speed and torque compensations can be
specified by the master to enable speed and torque feedforward.
The interpolation time period defines the interval at which the target position is updated. Inter-
polation is performed in the SERVOPACK according to this setting. The target position is inter-
preted as an absolute value.
The following figure shows the block diagram for the Cyclic Synchronous Position Mode.
Torque offset (60B2 hex)
Velocity offset (60B1 hex)
Target position (607A hex)
Software position limit (607D hex)
Quick stop deceleration (6085 hex)
Quick stop option code (605A hex)
(or profile deceleration (6084 hex))
Interpolation time period (60C2 hex)
Torque actual value (6077 hex)
Velocity actual value (606C hex)
Position actual value (6064 hex)
Following error actual value (60F4 hex)
Following error window time out (6066 hex)
Following error in statusword
(6041 hex)
 Related Objects
Index
607A hex
607D hex
6084 hex
6085 hex
13-12
Set interpolation submode select (60C0 hex).
Set interpolation profile select (2732 hex).
Set interpolation data configuration for 1st profile (2730 hex) and interpolation data configuration for
2nd profile (2731 hex).
Set interpolation data record for 1st profile (27C0 hex) and interpolation data record for 2nd profile
(27C1 hex).
Set mode of operation (6060 hex).
Set enable interpolation (6060 hex bit 4).
[Vel unit]
[Pos unit]
Position
limit function
Following Following error
window time window
(6068 hex) comparator
Subindex
0 Target position
Software position limit
1 Min position limit
2 Max position limit
0 Profile deceleration
0 Quick stop deceleration
Description
Multiplier
[inc/s]
Velocity
user unit
(2702 hex: 1, 2702 hex: 2)
Multiplier
demand
[inc]
Position
user unit
(2701 hex: 1, 2701 hex: 2)
Position
10 4
Multiplier (60FC hex)
[inc/s 2 ]
trajectory
Acceleration
user unit
generator
(2703 hex: 1, 2703 hex: 2)
Torque
user unit
(2704 hex: 2, 2704 hex: 1)
Velocity
user unit
Position actual
(2702 hex: 1, 2702 hex: 2)
Position internal value (6063 hex)
user unit
(2701 hex: 1, 2701 hex: 2)
Multiplier
Position demand
- Position
value (6062 hex)
user unit
+
(2701 hex: 1, 2701 hex: 2)
Name
Position
internal
value
+
+ +
Position Speed
control control
PDO
Access Unit
Mapping
RW Yes Pos unit
RW No Pos unit
RW No Pos unit
RW Yes Acc unit UDINT
RW Yes Acc unit UDINT
Continued on next page.
+
Torque
Motor
control
Encoder
Data
Type
DINT
DINT
DINT