CANopen Programmer's Manual - Maccon.de

CANopen Programmer’s Manual 9: Cyclic Synchronous Modes
9.1: Cyclic Synchronous Position Mode (CSP)
In this mode the controller generates a trajectory and sends increments of position, along with
velocity and current feed-forward values, to the drive. The primary feedback from the drive is the
actual motor position and optionally, actual motor velocity and torque. Position, velocity, and
torque control loops are all closed in the servo drive which acts as a follower for the position
commands.
The diagram below shows an overview of the cascading control structure in CSP mode. Objects
in parallelograms are real-time PDO data. Other objects in rectangles are usually configured
SDOs, non-synchronously.
This diagram shows the CSP control function with real-time and other configuration parameters.
Copley Controls 221