Goals and Symptoms
What operation mode is recommended for LXM32-EtherCAT, running on TwinCAT-NC
Causes and Fixes
In Operation mode CSP (Cyclic Synchronous Position), the position values created by the NC-profile generator will be transmitted to LXM32. Inside of LXM32, a fine-interpolator "moves" the axis from one position step value to the next. This fineinterpolator works with 250µs.
In Operation mode CSV (Cyclic Synchronous Velocity), the position loop is closed in the TwinCAT-NC. In this case, the controller sends velocity values to the drive. In CSV, there is no fine-interpolator active in the drive.
Result:
In CSP the position controller loop performance is higher than in CSV, because it's closed inside of the drive. Because of this, we recommend to use CSP.
