Cyclic Synchronous Position mode (csp)

In Cyclic Synchronous Position (CSP) mode, the trajectory generator is located in the control device, not in the drive device. In cyclic synchronous manner, the control device provides a Target_Position to the drive device, which performs position control and velocity control. The Target_Position is transferred cyclically (via PDO service) every Interpolation time period (Highest sub-index supported).

Related objects

Index	Object	Name	Type	Attr.	M/O
6040.0H	VAR	Controlword	UNSIGNED16	rw	M
6041.0H	VAR	Statusword	UNSIGNED16	ro	M
6064.0H	VAR	Position_Actual_Value	INTEGER32	ro	M
6065.0H	VAR	Following_error_window	UNSIGNED32	rw	O
6066.0H	VAR	Following_error_time_out	UNSIGNED16	rw	O
606C.0H	VAR	Velocity_Actual_Value	INTEGER32	ro	O
607A.0H	VAR	Target_Position	INTEGER32	rw	M
6085.0H	VAR	Quick_Stop_deceleration	UNSIGNED32	rw	O
6086.0H	VAR	Motion_profile_type	INTEGER16	rw	O
60C2H	RECORD	Interpolation time period (Highest sub-index supported)	Interpolation time period record	rw	O
60F4.0H	VAR	Following_error_actual_value	INTEGER32	ro	O