Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-17
6.4.3
Cyclic Synchronous Position (CSP) Mode
In this mode of operation, the host controller generates the position references and gives the target
position in 607Ah to the Drive using cyclic synchronization. Position control, speed control, and torque
control are performed by the Drive.
Block Diagram
Position
limit
function
Position gear ratio
6093-01h:6093-02h
Velocity gear ratio
6094-01h:6094-02h
Acceler ation
gear ratio
6097-01h:6097-02h
Quick stop deceleration (6085h)
Position
trajectory
generator
Position
control
Speed
control
Torque
control
[inc/s]
10
4
[inc/s
2
]
[Vel. unit]
[Pos. unit]
[Acc. unit]
Target position (607Ah)
Software position limit (607Dh)
Velocity offset (60B1h)
Velocity gear ratio
6094-02h:6094-01h
Position gear ratio
6093-02h:6093-01h
Position gear ratio
6093-01h:6093-02h
Torque actual value (6077h)
Velocity actual value (606Ch)
Position actual value (6064h)
-
+
Position deman d
value (6062h)
Following error actual value (60F4h)
Following
error
window
comp arato r
Following error window (6065h)
Following
window time out
(6066h)
Following error in
statusword (6041h)
Position actual
internal value
(6063h)
Torque offset (60B2h)
+
+
+
+
Position
demand
internal
value
(60FCh)
Quick stop option code (605Ah)
(or profile deceleration (6084h))
Interpolation time period (60C2h)
[inc]
Encoder
Motor
Speed Limit
The speed limit is determined by the smaller of 6080h value and 607F value.
Relevant Objects
Object
Bit
Name
Value Description
Controlword
6040h
0
Switch on
0
Disabled
If Bit0 to Bit3 are all 1, the Drive
starts running.
1
Enabled
1
Enable voltage
0
Disabled
1
Enabled
2
Quick stop
0
Disabled
1
Enabled
3
Enable operation
0
Disabled
1
Enabled
8
Halt
0
Executes or continues operation.
1
Stops the axis according to
Halt Option Code
(605Dh)
Statusword
10
Target reached
0
Reserved
