Cyclic Synchronous Position Mode (Csp) - Leadshine EL8-EC Series User Manual

6074 0
6076 0
6077 0
60F4 0
60FA 0
60FC 0

5.5.2 Cyclic Synchronous Position Mode (CSP)

CSP Block Diagram
Position
feedforward(60B0h)
Target position
(607Ah)
M
Polarity
U
(2006h)
L
Trajectory planning output
Actual torque(6077h)
Actual velocity feedback(606Ch)
Actual position feedback(6064h)
Related Objects
Basic object
PDO Index+Sub-Index
6040-00h
607A-00h
(RXPDO) 60B0-00h
60B1-00h
60B2-00h
6041-00h
6064-00h
(TXPDO) 606C-00h
60F4-00h
6077-00h
Internal
RO
command
torque
Rated torque
RO
Actual torque RO
Actual following
RO
error
Position loop RO
velocity output
Internal
RO
command
position
Velocity feedforward(60B1h)
PP
+
Internal velocity
feedforward
C
+
S
P
Position
Loop
+
PP
Label
Control word
Target position
Position feedforward
Velocity feedforward
Torque feedforward
Status word
Actual feedback position
Actual feedback velocity
Actual following error
Actual torque
User manual of EL8-EC***F AC Servo
TxPDO Yes
TxPDO Yes
TxPDO Yes
TxPDO Yes
TxPDO Yes
TxPDO Yes
Torque feedforward(60B2h)
PP
Internal torque
feedforward
+ +
Velocity
Loop
+
Data
Type
U16
I32
I32
I32
I16
U16
I32
I32
I32
I16
Yes Yes
Yes Yes
Yes Yes
Yes Yes
Yes Yes
Yes Yes
Current
Amplifier
Loop
Access Unit
RW — Required
RW Uint Required
RW Uint Optional
RW Uint /S Optional
RW 0.1% Optional
RO — Required
RO Uint Required
RO Uint /S Optional
RO Uint Optional
RO 0.1% Optional
190
Motor
S
Notes