3.1.8.2.1 Cyclic modes
Cyclic Synchronous Torque Control (CST) In torque control mode the EtherCAT master sends desired torques
to the drive.
Cyclic Synchronous Velocity Control (CSV) In velocity control modes the EtherCAT master sends desired
velocities to the drive.
Cyclic Synchronous Position Control (CSP) In position control modes the EtherCAT master sends desired
positions to the drive.
In cyclic synchronous modes reference values are sent and updated with each EtherCAT communication
frame, so a reference signal has to be sent with up to 4 kHz. As an example, to rotate the motor shaft from
position A to position B in cyclic synchronous position mode within one second, the following information has
to be sent to the drive:
position A in the beginning
3998 intermediate positions (ideally at 4 kHz)
position B in the end
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