Operating mode 9: Cyclic synchronous velocity mode
4.8.6.1 General description
In operating mode „cyclic synchronous position mode", speed setpoints are cycli-
cally preset by the superior control.
The position control is in the superior control and calculates the speed settings
from the target position and the actual position, which is read by the drive.
The following figure shows the principle function.
Figure 53: Cyclic synchronous velocity mode - principle
The yellow elements indicate the KEB specific objects, the orange-colored objects
indicate the appropriate objects of the CiA402 profile.
The function of the individual objects can be influenced by different other function
blocks. The following figure shows a detailed description of the operating mode.
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