Cyclic Synchronous Position Mode - YASKAWA SGD7S-xxxDA0 series Product Manual

14.3 Position Control Modes

14.3.3 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
14.3.3 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 (60B2h)
Velocity offset (60B1h)
Target position (607Ah)
Software position limit (607Dh)
Quick stop deceleration (6085h)
Quick stop option code (605Ah)
(or profile deceleration (6084h))
Interpolation time period (60C2h)
Torque actual value (6077h)
Velocity actual value (606Ch)
Position actual value (6064h)
Following error actual value (60F4h)
Following error window time out (6066h)
Following error in statusword
(6041h)
 Related Objects
Index
607Ah
607Dh
6084h
6085h
14-12
Set interpolation submode select (60C0h).
Set interpolation profile select (2732h).
Set interpolation data configuration for 1st profile (2730h) and interpolation data configuration for 2nd
profile (2731h).
Set interpolation data record for 1st profile (27C0h) and interpolation data record for 2nd profile
(27C1h).
Set mode of operation (6060h).
Set enable interpolation (6060h bit 4).
[Vel unit]
[Pos unit]
Position
limit function
Following Following error
window time window
(6068h) 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
(2702h: 1, 2702h: 2)
Multiplier
demand
[inc]
Position
user unit
(2701h: 1, 2701h: 2)
Position
10 4
Multiplier
[inc/s 2 ]
trajectory
Acceleration
user unit
generator
(2703h: 1, 2703h: 2)
Torque
user unit
(2704h: 2, 2704h: 1)
Velocity
user unit
Position actual
(2702h: 1, 2702h: 2)
Position internal value (6063h)
user unit
(2701h: 1, 2701h: 2)
Multiplier
Position demand
- Position
value (6062h)
user unit
+
(2701h: 1, 2701h: 2)
Name
Position
internal
value
+
(60FCh)
+ +
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