What is Cyclic Synchronous Position Mode(CSP)?
CSP is the primary mode for distributed control. The Master path planner generates trajectory points at a periodic rate equal to (or an integer multiple of) the Servo Drive position loop sampling time. All servo loops are closed in the Servo Drive. There is no network lag between loops so optimal tuning is possible. Some drives with very fast sampling times allow buffering of points, as well as interpolation between points transmitted at a slower rate than the sampling time.