Do you have any plan to make CSP mode？

[frankgp]

Thank you for your sharing your code.
it is very helpful.

But do you have any plan to make CSP mode? Cyclic sync position mode.
I think the CSP(Point to point) is more important compared with Profile Position mode.
it will not depend on the servo.

[feecat]

Hi
CSP Mode is design for Interpolation motion. Its easy to write some code make servo into csp mode, but its not easy to give a corrent position and velocity value. It have a lot of parameter and must need some visualization page to commissioning.

If you want async motion, use ProfilePosition mode and enable xContinueMove.
Else, maybe you want 2-axis or more doing Interpolation motion, for now maybe you need get cnc license in beckhoff or codesys system.

[frankgp]

Thank you for your feedback!

From my view points, the CSP is not only for SYNC control but also for the Point to Point control.

For async system, if we use the ProfilePosition mode, it will very depend on the Servo vendor.
but if we provide the async and P2P mode under the CSP mode.
The trajectory will depend on master. it is not based on different servo company.

maybe above comments are not correct.

[feecat]

Hi
Yep in CSP mode it depend on master. but different servo drive have different parameters, usually, one driver supplyer provide 10e-7 mm base unit and otherone provide 10e-4 mm or actual encoder counter. They dont have standards.

For our experience, the servo motor debugging process is more complicated. Even if the CSP mode is used, the EtherCAT Master can only modify a small part of the parameters, Such as p/i/d/acc/dec/etc... If you want to better performance, you need to use servo driver software to commissioning parameters, such as overcurrent multiples, overcurrent time, suppression capabilities, position/speed units, etc.
Unless you use a Beckhoff system with a Beckhoff driver in TC3 System, you cannot use one software to debug everything. Normally, some advanced drives use eoe (ethernet over ethercat) and install driver software on the master side for easy commissioning, witch others have a second ethernet port or usb port for commissioning.

[frankgp]

Thanks a lot！
I see！ Based on your cord, I will based on your code, try to make a small CSP mode.
The servo vendor will be fixed only innovance.