cia402 状态字_CIA402协议规范part6

Interpolated position mode

Profile velocity mode

Profile torque mode

Velocity mode

Cyclic synchronous position mode

17.1 General information

The overall structure for this mode is shown in Figure 62. With this mode, the trajectory

generator is located in the control device, not in the drive device. In cyclic synchronous

manner, it provides a target position to the drive device, which performs position control,

velocity control and torque control. Optionally, additive velocity and torque values can be

provided by the control system in order to allow for velocity and/or torque feed forward.

Measured by sensors, the drive device may provide actual values for position, velocity and

torque to the control device.

此模式的总体结构如图62所示。在这种模式下，轨迹发生器位于控制装置中，而不是在驱动装置中。以循环同步方式为驱动装置提供目标位置，驱动装置执行位置控制、速度控制和转矩控制。可选地，控制系统可以提供附加的速度和