Commissioning
EL72x1-901x 163Version: 1.9
5.4.5 CSP
CSP - cyclic synchronous position (position control)
In the CSP operating mode the EL72x1-xxxx operates in the cyclic position interface. A defined position can
be set via the Target position variable.
Minimum cycle time
The cycle times in CSP mode with 2^n * 125 µs (for n =1 to 8) are:
250 µs, 500 µs, 1 ms, 2 ms, 4 ms, 8 ms, 16 ms or 32 ms.
Step-by-Step
• Add the terminal to the configuration as described in the chapter TwinCAT configuration settings [}93]
- manual or - Online scan [}98].
• Link the terminal with the NC as described in the chapter Integration in the NC configuration [}115].
• Configure the motor with the help of the automatic configuration [}143] (only OCT types), using the
Drive Manager [}119] or import the motor XML file into the Start-up directory as described in the
chapter Settings in the CoE [}124].
• Set the mode of operation in the CoE directory to Cyclic synchronous position mode (CSP), Fig.
Selection of the mode of operation.
Fig.198: Selection of the mode of operation
• Under Predefined PDO assignment, also select Cyclic synchronous position mode (CSP), Fig.
Selecting a predefined PDO assignment.
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