ECT Series User Manual
36
2.4.4 CSP Cyclic Sync Position Mode
Cyclic sync position mode description
In this mode, the main controller generates a position trajectory and sends the target position
(0x607A) to the driver in each PDO update cycle. The driver feedbacks the actual motor
position and optional actual motor speed and torque.
Enable CSP mode
To enable the cyclic synchronization position mode, the value 0008h must be written to the
dictionary address 6060 h.
Enable driver
After power on, the drive is in the disabled state. Writing 0006h into the control word 6040h will
make the drive enter the "ready to switch on" state. Write the value 0x000F to 6040h again, the
drive will be in the enabled state, and the motor can respond to the CSP command.
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