The following graph shows an example of the switch from the CSV operating mode to the CSP operat-
ing mode.
control
device
Drive
EtherCat Slave
driver
CSV
process
CSP
process
RPDO: Mode_of_Operation =
CSV / Controlword / Target velocity
/ Target position
TPDO: Mode_of_Operation_Display =
CSV / Statusword / Position actual value
RPDO: Mode_of_Operation =
CSP / Controlword / Target velocity / Target position
TPDO: Mode_of_Operation_Display =
CSV / Statusword / Position actual value
RPDO: Mode_of_Operation =
CSP / Controlword
/ Target velocity /
Target position
TPDO: Mode_of_Operation_Display =
CSP / Statusword / Position actual value
(1)
(2)
(3)
Fig. 42 Operating mode switch from CSV to CSP (example)
Explanations for the above graph:
(1) The CSV operating mode is active. The nominal velocity (Target velocity) and the nominal position
(Target position) are sent. However, the target position is not used in the current operating mode.
(2) Switch to the CSP operating mode.
(3) The CSP operating mode is active. The nominal velocity (Target velocity) and the nominal position
(Target position) are sent. However, the target velocity is not used in the current operating mode.
4.1.3
Positioning mode(PP)
4.1.3.1
Function
In the positioning profile position operating mode, the theoretical path curve is calculated by the
integrated trajectory generator (Profile position mode). The trajectory for the target position is calcu-
lated based on the motion quantities for the profile velocity, the acceleration, the deceleration and the
jerk. If the value 0 is defined for the final velocity and no other command is triggered, the drive
remains position-controlled at the target position. In positioning mode, the position, velocity and cur-
rent regulators are active. The following types of position specification are supported in positioning
mode:
Position specification
Description
absolute
absolute position referenced to the axis origin
relative to the current actual
position
distance referenced to the current position (actual position)
Motion control
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Festo — CMMT-ST-SW — 2019-02
Summary of Contents for CMMT-ST-SW
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