
4. CiA402 Drive Profile
4.4
Cyclic Synchronous Position Mode
4.4.1
Definition
Cyclic Synchronous Position Mode(CSP Mode) assigns target position to controller by Master’s operation
profile creation function through cyclic communication. Controller internally executes position / velocity
control with receipt of target position in each cycle.
To use CSP Mode, Mode of operation (6060h) Cyclic Synchronous Position Mode needs to be set. Mode
of operation display (6061h) is shown as Cyclic Synchronous Position Mode, Target position transmitted
from master : Object 607Ah: Target position is executed.
4.4.2
Related Objects
Figure 4.2: CSP Mode Objects
4.4.3
Control word and Status word
Control word
Control word under CSP Mode are as follows.
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
-
-
-
-
-
-
-
Halt
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Fault Reset
-
-
-
Enable Op-
eration
Quick Stop
Enable Volt-
age
Switch On
Table 4.12: Control word under CSP Mode
Please refer to
4.4 Set Control word for status movement
for the rest of bits.
Status word
Status word (6041h) under CSP Mode are as follows.
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Safety Acti-
vated
-
Following
Error
Target
position
ignored
Internal
Limit Active
-
Remote
-
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
-
Switch
on
disabled
Quick stop
Voltage en-
abled
Fault
Operation
enabled
Switched on
Ready
to
switch on
Table 4.13: Status word under CSP Mode
Rev.37
FASTECH Co., Ltd.
43
Содержание Ezi-SERVOII
Страница 1: ...Closed Loop Stepping System EtherCAT Network User Manual Ezi SERVOII EtherCAT TO FASTECH Co Ltd...
Страница 10: ...Chapter 1 Product Specification Rev 37 FASTECH Co Ltd 10...
Страница 12: ...1 Product Specification 1 2 Product Dimension Figure 1 2 Dimensions Rev 37 FASTECH Co Ltd 12...
Страница 15: ...Chapter 2 Installation Rev 37 FASTECH Co Ltd 15...
Страница 17: ...2 Installation 2 2 System Configuration Figure 2 1 System Configuration Diagram Rev 37 FASTECH Co Ltd 17...
Страница 18: ...2 Installation 2 3 External Wiring Diagram Figure 2 2 External Wiring Diagram Rev 37 FASTECH Co Ltd 18...
Страница 29: ...Chapter 3 EtherCAT Communication Rev 37 FASTECH Co Ltd 29...
Страница 35: ...Chapter 4 CiA402 Drive Profile Rev 37 FASTECH Co Ltd 35...
Страница 67: ...Chapter 5 Operation Rev 37 FASTECH Co Ltd 67...
Страница 71: ...Chapter 6 EtherCAT Object Dictionary Rev 37 FASTECH Co Ltd 71...