Inovance EtherCAT MD800 - CiA402 Cyclic Synchronous Mode (CSV)

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INOVANCE TECHNOLOGY EUROPE GmbH
MD800 EtherCAT Starting Guide_EN_v1.1_20211109.docx
5.3 CIA402 CYCLIC SYNCHRONOUS MODE (CSV)
In this mode of operation, the host controller gives the target speed in 60FFh to the MD800 drive using PDOs
configuration. Speed control and torque control are performed by the drive.
The following table shows the necessary settings to work with the Cyclic Synchronous Mode of the CiA402
standard.
Index
(hex)
Sub-
index
(hex)
Drive
Parameter
Name
Unit
Value
FD-11
CANopen402 protocol
1 [Enabled]
F8-64
7310H address data unit
1 [Speed (rpm)]
6060
00
Modes of operation
-
9 [Cyclic Synchronous Mode]
60FF
00
Target velocity
RPM
606C
00
Velocity actual value
RPM
6077
00
Torque actual value
%
NOTE See section 6.4.2 for more information on this mode.