Inovance EtherCAT MD800 - Cyclic Synchronous Velocity Mode (CSV)

22
INOVANCE TECHNOLOGY EUROPE GmbH
MD800 EtherCAT Starting Guide_EN_v1.1_20211109.docx
6.4.2 CYCLIC SYNCHRONOUS VELOCITY 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 below table shows the CSV profile related objects:
Index
(hex)
Sub-
index
(hex)
Drive
Parameter
Name
Access
Data
Type
Unit
Value Range
6040
00
Control word
RW
Uint16
-
0~65535
6041
00
Status word
RO
Uint16
-
0~65535
6060
00
Modes of operation
RW
Int8
-
0~9
6061
00
Modes of operation
display
RO
Int8
-
0~9
60FF
00
Target velocity
RW
Int32
RPM
-2
31
~ (2
31
-1)
60B1
00
Velocity Offset
RO
Int32
RPM
-2
31
~ (2
31
-1)
607E
00
Polarity
RO
Uint8
-
0~255
606C
00
Velocity actual value
RO
Int32
-2
31
~ (2
31
-1)
6077
00
Torque actual value
RO
Int16
unit:
0.1%
-32768~32767
In this mode the host controller sends a speed command every EtherCAT cycle. The MD800 drive takes care of
interpolating the necessary points between each EtherCAT cycle to create a final speed command.
The MD800 is an open loop drive, therefore the final speed of the motor has a small error because the drive
has no feedback.
The following image shows how the MD800 interpolates the final speed from the command received from the
host controller: