Cyclic Synchronous Velocity Mode (Csv) - Leadshine EL8-EC Series User Manual

Sub
Index
Index
6041 0
6063 0
6064 0
606B 0
606C 0
6074 0
6076 0
6077 0

5.6.2 Cyclic Synchronous Velocity Mode (CSV)

CSV Block Diagram
Velocity feedforward(60B1h)
Target velocity
(60FFh)
M
Polarity
U
(2060h+2062h)
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
60FF-00h
(RXPDO)
60B1-00h
60B2-00h
6041-00h
(TXPDO)
6064-00h
Name
Status word
Actual internal position
Actual feedback position
Internal command velocity
Actual feedback velocity
Internal torque command
Rated torque
Actual torque
Torque feedforward(60B2h)
+
Internal torque feeforward
C
+
S
V
Velocity
loop
PV
Name
Control word
Target velocity
Velocity feedforward
Torque feedforward
Status word
Actual position feedback
User manual of EL8-EC***F AC Servo
Access PDO
RO TxPDO
RO TxPDO
RO TxPDO
RO TxPDO
RO TxPDO
RO TxPDO
RO TxPDO
RO TxPDO
CSV
PV
+
Torque
loop
+
Data
Access
Type
U16 RW
I32 RW
I32 RW
I16 RW
U16 RO
I32 RO
Mode
CSV PV
Yes Yes
Yes Yes
Yes Yes
Yes Yes
Yes Yes
Yes Yes
Yes Yes
Yes Yes
Amplifer
Unit Remarks
— Required
Uint Required
Uint /S Optional
0.1% Optional
— Required
Uint Optional
220
Motor
S