Chapter 5 CANopen Operation Mode ASDA A2-E
5-6 Revision April, 2015
5.3 Cyclic Synchronous Position Mode
5.3.1 Description
The Host plans the path in Cyclic Synchronous Position mode and sends PDO
periodically. With each PDO, the Host sends the target position and controlword to the
drive. Velocity offset and torque offset can be used as velocity and torque feedforwad.
5.3.2 The Function of CSP Mode
Position
control
Velocity
control
Torque
control
M
S
Target
position
(607A
h
)
Position offset (60B0
h
)
Velocity offset (60B1
h
)
Torque offset (60B2
h
)
+
+
+
+
+
+
Position actual value
(6064
h
)
Velocity actual value
(606C
h
)
Torque actual value
(6077
h
)
5.3.3 Operation Procedures
1. Set 【Mode of operations:6060
h
】to cyclic synchronous position mode(0x08).
2. Set 【Interpolation time period:60C2
h
】 to predict the cycle that SYNC0 receives
PDO.
60C2
h
Sub-1 for Interpolation time units. The min is from 1ms to 20ms.
- 60C2
h
Sub-2 for Interpolation time index. The value is always -3, meaning
the interpolation time unit is 10
-3
second.
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