Leadshine EL8-EC Series, Руководство пользователя

Страница: 190 / 336

User manual of EL8-EC***F AC Servo
190
6074 0
Internal
command
torque
RO TxPDO Yes Yes Yes
6076 0 Rated torque
RO TxPDO Yes Yes Yes
6077 0
Actual torque RO TxPDO Yes Yes Yes
60F4 0 Actual following
error
RO TxPDO Yes Yes Yes
60FA 0
Position loop
velocity output
RO TxPDO Yes Yes Yes
60FC 0
Internal
command
position
RO TxPDO Yes Yes Yes
5.5.2 Cyclic Synchronous Position Mode (CSP)
CSP Block Diagram
Position
Loop
Velocity
Loop
Current
Loop
Motor
S
M
U
L
Target position
(607Ah)
Polarity
(2006h)
Trajectory planning output
C
S
P
PP
Position
feedforward (60B0h)
Internal velocity
feedforward
Velocity feedforward (60B1h)
Internal t orque
feedforward
Torque feedforward (60B2h)
PP PP
+
+
+
+
+
+
Amplifier
Actual torque (6077h)
Actual velocity feedback (606Ch)
Actual position feedback (6064h)
Related Objects
Basic object
PDO Index+Sub-Index Label
Data
Type
Access Unit Notes
(RXPDO)
6040-00h Control word U16 RW — Required
607A-00h Target position I32 RW Uint Required
60B0-00h Position feedforward I32 RW Uint Optional
60B1-00h Velocity feedforward I32 RW Uint /S Optional
60B2-00h Torque feedforward I16 RW 0.1% Optional
(TXPDO)
6041-00h Status word U16 RO — Required
6064-00h Actual feedback position I32 RO Uint Required
606C-00h Actual feedback velocity I32 RO Uint /S Optional
60F4-00h Actual following error I32 RO Uint Optional
6077-00h Actual torque I16 RO 0.1% Optional