TECO JSDG2S Series - Cyclic Synchronous Position (CSP)

8-70
8-3-6-7 Cyclic Synchronous Position (CSP)
Cyclic Synchronous Position is the cyclic command mode. Under this mode, the user must use PDO
communication to provide new commands cyclically. And JSDG2(S)-E servo driver will generate
commands by linear interpolation to process position control.
Target position (607Ah)
Torque offset (60B2h)
Velocity offset (60B1h)
Quick stop deceleration (6085h)
Target
position
[Pos unit]
[Acc unit]
Position
Factor
(6093h:1,
6093h:2)
Acceleration
Factor
(6097h:1,
6097h:2)
Position
demand
(60FCh)
Position
trajectory
generator
Quick stop option code (605Ah)
Torque actual value (6077h)
Velocity actual value (606Ch)
Position actual value (6064h)
Velocity Factor
(6095h:1, 6095h:2)
Position Factor
(6093h:1, 6093h:2)
Position actual internal value (6063h)
Position Factor
(6093h:1, 6093h:2)
Position demand value
(6062h)
+
-
Following error actual value (60F4h)
Following error
in statusword
(6041h)
Following error
window
comparator
Following error
window (6065h)
Position window
time (6068h)
[inc]
10^4
[inc/s^2]
Velocity
Factor
(6095h:1,
6095h:2)
[Vel unit]
[inc/s]
Position offset (60B0h)
[0.1%]
[inc]
[0.1%]
[Pos unit]
[Vel unit]
[Pos unit]
[inc/s]
Velocity
Demand
(606Bh)
Torque
Demand
(6074h)
+
+
Controlword (6040h)
Motor
Encoder
Differential
Position
Controller
Speed
Controller
Current
Controller