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EtherCAT Mode

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ASDA-A3

13.3.7 Cyclic Synchronous Torque mode

13

The controller plans the torque in Cyclic Synchronous Torque (CST) mode and transmits PDOs

to the servo drive periodically. In this mode, when the controller transmits each PDO, it

simultaneously transmits the target torque and controlword data to the servo drive. The torque

offset can be used as the torque feed forward control setting.

Target torque (6071h)

Torque offset (60B2h)

Torque

command

Torque

trajectory

generator

Filter

(2107h)

Filter

(2219h)

Torque demand value

(6074h)

Torque

control

loop

Servo

motor

Controlword (6040h)

M

Torque actual value (6077h)

Velocity actual value (606Ch)

Position actual value (6064h)

Position

factor

6093h sub2

6093h sub1

Encoder

Operation steps:

1. Set OD 6060h to 0Ah to set the mode as Cyclic Synchronous Torque mode.

2. Set the target torque (OD 6071h) to 0. In Cyclic Synchronous Torque mode, the servo target

torque takes effect once the servo drive is switched to Servo On (Step 3). Therefore, set the

target torque (OD 6071h) to 0 for safety reasons.

3. Set the Controlword (OD 6040h). Follow these steps for operation. Steps 3.1 and 3.2 are to

bring the servo drive's state machine into the ready state. For more details of the state

machine, refer to the OD 6040h description in Section 13.4.

Step

3.1

3.2

3.3

Bit 4

0

0

0

Bit 3

0

0

1

Bit 2

1

1

1

Bit 1

1

1

1

Bit 0

0

1

1

Description

Shutdown.

Switch on (ready for Servo On).

Enable operation (Servo On).

4. Set OD 6071h for the target torque.

13-38

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