Inovance SV660, Руководство для продвинутых пользователей, Страница: 186 / 426

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7 Control Mode
7.2.2 Communication Cycle
SV660N series servo drives support a synchronization cycle of 125 µs (or an integral multiple of 125 μs).
7.3 Cyclic Synchronous Position Mode (CSP)
In this mode, the host controller generates the position references and sends the target position to the
servo drive cyclically. The position control, speed control, and torque control are performed by the servo
drive.
7.3.1 Configuration Block Diagram
CSP mode (0x6060=8)
Target position(0x607A)
Servo control
Velocity offset (0x60B1)
Position actual value
(0x6064)
Torque offset (0x60B2)
Position offset (0x60B0)
Following error actual value
(0x60F4)
Velocity actual value
(0x606C)
Torque actual value
(0x6077)
Figure 7-3 Cyclic synchronous position mode
7.3.2 Related Objects
Index (hex)
Sub-index
(hex)
Name Access Data Type Unit Value Range Default
6040 00 Control word RW UINT16 - 0 to 65535 0
6041 00 Status word RO UINT16 - - 0
6060 00
Modes of
operation
RW INT8 - 0 to 10 0
6061 00
Modes of
operation
display
RO INT8 - - 0
6064 00
Position
actual value
RO INT32 Position unit - -
606C 00
Velocity
actual value
RO INT32
Position
unit/s
- -
607A 00
Target
position
RW INT32 Position unit –2
31
to +(2
31
–1) 0
607E 00 Polarity RW UINT8 - 0 to 255 0
60B0 00
Position
offset
RW INT32 Position unit –2 31 to +(2 31 –1) 0
60B1 00
Velocity
offset
RW INT32
Velocity
unit/s
–2
31
to +(2
31
–1) 0
60B2 00 Torque offset RW INT16 0.1% –3000 to +3000 0