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Cyclic synchronous position mode (csp)
The functions and related objects of the cyclic synchronous position mode (csp) are shown in the following.
[Torque offset (Obj. 60B2h)]
[Velocity offset (Obj. 60B1h)]
[Positive torque limit value (Obj. 60E0h)]
[Negative torque limit value (Obj. 60E1h)]
[Quick stop deceleration (Obj. 6085h)]
[Quick stop option code (Obj. 605Ah)]
[Position offset (Obj. 60B0h)]
+
[Target position (Obj. 607Ah)]
+
[Software position limit (Obj. 607Dh)]
[Gear ratio (Obj. 6091h)]
[Polarity (Obj. 607Eh)]
[Following error actual value
[pos units]
(Obj. 60F4h)]
[Position actual value
[pos units]
(Obj. 6064h)]
[Velocity actual value (Obj. 606Ch)]
[Torque actual value (Obj. 6077h)]
Related objects
Index
Sub
Object
Name
607Ah
VAR
Target position
607Bh
0
ARRAY
Position range limit
1
Min position range limit
2
Max position range limit
607Dh
0
ARRAY
Software position limit
1
Min position limit
2
Max position limit
6085h
VAR
Quick stop deceleration
605Ah
VAR
Quick stop option code
6080h
VAR
Max motor speed
6063h
VAR
Position actual internal value
6064h
VAR
Position actual value
606Ch
VAR
Velocity actual value
6077h
VAR
Torque actual value
6092h
0
ARRAY
Feed constant
1
Feed
2
Shaft revolutions
60F4h
VAR
Following error actual value
60FAh
VAR
Control effort
60E0h
VAR
Positive torque limit value
60E1h
VAR
Negative torque limit value
×
×
×
Position
[pos units]
[Enc inc]
limit
×
×
function
+
-
[Position actual internal value
×
×
(Obj. 6063h)]
×
×
Data Type
I32
U8
I32
I32
U8
I32
I32
U32
I16
U32
I32
I32
I32
I32
U8
U32
I32
I32
U16
U16
Position
[Control effort
+
trajectry
(Obj. 60FAh)]
+
Position
Generator
control
×
×
Access
Default
rw
ro
2
rw
rw
ro
2
rw
0
rw
0
rw
100
rw
2
rw
ro
ro
ro
ro
ro
2
rw
ro
ro
rw
10000
rw
10000
+
+
Velocity
Torque
control
control
Encoder
Description
Command position (pos units)
Number of entries
Minimum value of the position range limit
Maximum value of the position range limit
Number of entries
Minimum position address (pos units)
Maximum position address (pos units)
Deceleration at deceleration to a stop with
Quick stop (acc units)
Operation setting for Quick stop
Page 77 Quick stop
Servo motor maximum speed
Unit: r/min
Current position (Enc inc)
Current position (pos units)
Current speed(vel units)
Current torque
Unit: 0.1 % (rated torque of 100 %)
Travel distance per revolution of an output
shaft
Travel distance setting
Number of servo motor shaft revolutions
Droop pulses (pos units)
Position control loop output (speed
command) (vel units)
Torque limit value (forward)
Unit: 0.1 % (rated torque of 100 %)
Torque limit value (reverse)
Unit: 0.1 % (rated torque of 100 %)
2 CONTROL MODE
2.1 Control mode
2
Motor
11
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