13.3 Position Control Modes
13.3.3 Cyclic Synchronous Position Mode
13-12
Object Setting Procedure
The recommended object setting procedure to use mode 2 is given in the following table.
13.3.3
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.
Related Objects
Step
Description
1
Set
interpolation submode select
(60C0 hex).
2
Set
interpolation profile select
(2732 hex).
3
Set
interpolation data configuration for 1st profile
(2730 hex) and
interpolation data configuration for
2nd profile
(2731 hex).
4
Set
interpolation data record for 1st profile
(27C0 hex) and
interpolation data record for 2nd profile
(27C1 hex).
5
Set
mode of operation
(6060 hex).
6
Set
enable interpolation
(6060 hex bit 4).
Position
trajectory
generator
Target position (607A hex)
Software position limit (607D hex)
Velocity
user unit
(2702 hex: 1, 2702 hex: 2)
Quick stop deceleration (6085 hex)
[Pos unit]
[Vel unit]
Quick stop option code (605A hex)
(or profile deceleration (6084 hex))
+
-
Interpolation time period (60C2 hex)
Velocity offset (60B1 hex)
Torque offset (60B2 hex)
+
+
+
+
Position
limit function
104
[inc/s2]
[inc/s]
[inc]
Position
user unit
(2701 hex: 1, 2701 hex: 2)
Acceleration
user unit
(2703 hex: 1, 2703 hex: 2)
Position
demand
internal
value
(60FC hex)
Position actual value (6064 hex)
Velocity actual value (606C hex)
Torque actual value (6077 hex)
Following error in statusword
(6041 hex)
Following error window time out (6066 hex)
Following error actual value (60F4 hex)
Following error
window
comparator
Following
window time
(6068 hex)
Position
user unit
(2701 hex: 1, 2701 hex: 2)
Velocity
user unit
(2702 hex: 1, 2702 hex: 2)
Position
user unit
(2701 hex: 1, 2701 hex: 2)
Position demand
value (6062 hex)
Position actual
internal value (6063 hex)
Motor
Encoder
Position
control
Speed
control
Torque
control
Multiplier
Multiplier
Multiplier
Multiplier
Torque
user unit
(2704 hex: 2, 2704 hex: 1)
Index
Subindex
Name
Access
PDO
Mapping
Unit
Data
Type
607A hex
0
Target position
RW
Yes
Pos unit
DINT
607D hex
Software position limit
1
Min position limit
RW
No
Pos unit
DINT
2
Max position limit
RW
No
Pos unit
DINT
6084 hex
0
Profile deceleration
RW
Yes
Acc unit
UDINT
6085 hex
0
Quick stop deceleration
RW
Yes
Acc unit
UDINT
Continued on next page.
