Estun Summa Series - Cyclic Synchronous Position Mode

Summa Series Servodrive Product Manual
Appendix
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
12-60
Index
Subindex
Name
Data Type
Access
PDO Mapping
Value
60C1h
0
Highest sub-
index
supported
UINT8
RO
No
2
1
1st set-point
INT32
RW
Yes
-2147483648 to
2147483647
Interpolation Time Period (60C2h)
The Interpolation Time Period indicates the period of updating 607Ah or 60C1-01h. In the CSP or IP
mode, if the DC synchronization mode is selected, the value must be the same as the DC synchronization
period; and if the SM2 Event mode is selected, the value of 1C32-02h is consistent with the interpolation
period and the actual SM2 Event period, otherwise Sync Error will occur.
Index
Subindex
Name
Data Type
Access
PDO Mapping
Value
60C2h
0
Highest sub-index
supported
UINT8
RO
No
2
1
Interpolation time
period value
INT32
RW
No
1 to 250
Default: 4
2
Interpolation time
index
INT8
RW
No
-6 to -3
Default: -3
NOTE: Interpolation time = (Interpolation time period (60C2h: 01)) × 10
Interpolation time index (60C2h: 02)
[s]
The interpolation period must be an integer multiple of 125us and greater than 125us.
12.3.9 Cyclic Synchronous Position Mode
Velocity Offset (60B1h)
In Cyclic Synchronous Position Mode, this object contains the speed feedforward value.
Index
Subindex
Name
Data Type
Access
PDO Mapping
Value
60B1h
0
Velocity
Offset
INT32
RW
Yes
-2147483648 to
2147483647
Default: 0
Torque Offset (60B2h)
In Cyclic Synchronous Position Mode or Cyclic Synchronous Velocity Mode, this object contains the
torque feedforward value.
In Cyclic Synchronous Torque Mode, this object contains the offset value to add to the torque reference.
Index
Subindex
Name
Data Type
Access
PDO Mapping
Value
60B2h
0
Torque Offset
INT16
RW
Yes
-32768 to 32767
Default: 0 [0.1%]