CANopen Programmer's Manual - Maccon.de

CHAPTER
9: CYCLIC SYNCHRONOUS MODES
This section describes cyclic synchronous operating modes. In these this modes, trajectory
generation is done in the master computer (control device), not in the drive, and data is sent to the
axes in synchronous updates of position, velocity or torque.
In cyclic synchronous modes PDOs are used to send commands to the drive, which responds
immediately, without setting bit 4 in the Control Word 0x6040 (as is done in Profile Position Mode).
These commands are affected by limiting parameters that are usually sent via SDOs and don’t
require cyclical updating.
For more information go to http://www.can-cia.org/index.php?id=530.
Contents of this Section include:
9.1: Cyclic Synchronous Position Mode (CSP) .......................................................................................... 221
9.2: Cyclic Synchronous Velocity Mode (CSV) .......................................................................................... 222
9.3: Cyclic Synchronous Torque Mode (CST)............................................................................................ 222
Copley Controls 220