Setting "Cyclic Synchronous Position" (csp) and "Cyclic Synchronous Velocity" (csv) mode of operation

For cyclic setpoint generation, an axis is simulated on the PLC which performs the desired movement. The current position and velocity of this axis is used as the setpoint for the CiA402 axis.

• Adding virtual axis
• Setting "Cyclic Synchronous Position" (csp) mode of operation
• Setting "Cyclic Synchronous Velocity" (csv) mode of operation