Cyclic Sinchronous Position Mode; Control And Status Bits; Object 60B1H - Velocity Offset; Object 60C2H - Interpolation Time Period - WEG SCA06 User Manual

8.7

CYCLIC SINCHRONOUS POSITION MODE

In cyclic synchronous manner, it provides a target position to the drive device, wich performs position control, velocity
control and torque control. The overall structure for this mode is shown in Figure 8.6.
8.7.1

Control and Status Bits

This mode uses no mode specific bits of the contolword and three bits of the statusword for mode-specific purposes.
Table 8.17 defines the values for bit 10, 12 and 13 of the statusword.
Bit Value
0
10
1
0
12
1
0
13
1
8.7.2 Object 60B1h – Velocity Offset
This object provide the offset for the velocity value. The offset shall be given in user defined velocity units. This object
contains the input value of velocity feed forward.
Index
60B1h
8.7.3 Object 60C2h – Interpolation time period
This object shall indicate the configured interpolation cycle time.
Index
60C2h
Figure 8.6: Cyclic synchronous position mode overview
Table 8.17: definition of bit 10, bit 12 and bit 13
Reserved
Reserved
Target position is ignored
Target position shall be used as input to position control loop
No following error
Following error
Sub-
Name
index
0 Velocity Offset
Sub-
Name
index
0 Highest sub-index supported
1 Interpolation time period value
2 Interpolation time index
Definition
Type Access
INT32 rw
Type Access
2 ro
UINT8 rw
-128 a rw
63
CiA 402 Drive Profile
PDO
Mapping
Yes
PDO
Mapping
No
Yes
Yes
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