Megmeet SPS-NE Series - Page 78

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(5) Cyclic Synchronous Position Mode
The cyclic synchronous position mode is similar to the interpolated position mode. In this mode, the master station
plans the position references, and sends the target position to the slave drive cyclically and synchronously. The
target position is 607Ah, and the interpolation cycle is same as the signal sync cycle.
The cyclic synchronous position mode only supports the absolute position reference. SPS-NE only supports linear
interpolation.
1）Common objects
The objects in this mode are listed in the following table.
Index
Object
Code
Name
Type
Attr.
PDO
mapping
6040h
VAR
Control word
UINT16
RW
RPDO
6041h
VAR
Status word
UINT16
RO
TPDO
6060h
VAR
Modes of operation
INT8
RW
RPDO
6061h
VAR
Modes of operation display
INT8
RO
TPDO
607Ah
VAR
Target position
INT32
RW
RPDO
6093h
ARRAY
Position factor
UINT32
RW
RPDO
6063h
VAR
Position actual value* (motor unit)
INT32
RO
TPDO
6064h
VAR
Position actual value (user unit)
INT32
RO
TPDO
6067h
VAR
Position window
UINT32
RW
RPDO
6068h
VAR
Position window time
UINT16
RW
RPDO
2）Control word and status word
The control word in the cyclic synchronous position mode (CSP) is same as the standard definition.
Status word in the cyclic synchronous position mode (CSP):
Bit15–Bit14
Bit13
Bit12
Bit11
Bit10
Bit9–Bit0
*
Following error
Target position
ignored
*
Target reached
*