7-2.Cyclic Synchronous Position Mode
7-2-1.Summary
The host computer plans the path in CSP mode and sends the PDO in a specified period.
When transmitting each PDO, the data of target position and control word will be transmitted
to the driver at the same time.
7-2-2.CSP mode
7-2-3.Operation steps
1. set【Mode of operations:6060h】to cyclic synchronous position mode)(0x08).
2. set【Interpolation time period:60C2h】, settings must be the same as SYNC0 cycles.
60C2h Sub-1 can set the Interpolation time units, the range is 1ms~20ms;
60C2h Sub-2 can set the Interpolation time index, the value fixed at -3 indicates
that Interpolation time unit is 10
-3
seconds.
3. Drive PDO Rx:
Use 607Ah to set Target Pos Cmd (32-bit).
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