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Cyclic Synchronous Torque Control (CST) In torque control mode the EtherCAT master sends desired torques to the drive.
Cyclic Synchronous Velocity Control (CSV) In velocity control modes the EtherCAT master sends desired velocities to the drive.
Cyclic Synchronous Position Control (CSP) In position control modes the EtherCAT master sends desired positions to the drive.
In cyclic synchronous modes reference values are sent and updated with each EtherCAT communication frame, so a reference signal has to be sent with up to 4 kHz. As an example, to rotate the motor shaft from position A to position B in cyclic synchronous position mode within one second, the following information has to be sent to the drive:
position A in the beginning
3998 intermediate positions (ideally at 4 kHz)
position B in the end
