CANopen Programmer's Manual - Maccon.de

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9: Cyclic Synchronous Modes CANopen Programmer’s Manual 9.2: Cyclic Synchronous Velocity Mode (CSV) CSV mode is frequently used with controllers that close the position loop and use the position error to command the velocity of the servo drive (which can also accept a torque feedward value). Velocity and torque loops are closed in the servo drive. The diagram below shows an overview of the cascading control structure in cyclic synchronous velocity mode (CSV). This diagram shows the CSV control function with real-time and other configuration parameters. 222 Copley Controls
CANopen Programmer’s Manual 9: Cyclic Synchronous Modes 9.3: Cyclic Synchronous Torque Mode (CST) When the controller has a full PID compensator to control position and velocity, the output is a torque command to the servo drive. A torque offset value is used for vertical loads to balance against gravity so that the torque command from the controller produces symmetrical acceleration up and down. The diagram below shows an overview of the cascading control structure in cyclic synchronous torque mode (CST). This diagram shows the CST control function with real-time and other configuration parameters. Copley Controls 223
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CANopen Programmer’s Manual Part
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About this Manual CANopen Programme
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About this Manual CANopen Programme
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