Chapter 5 CANopen Operation Mode
ASDA A2-E
5-16
Revision April, 2015
5.8 Cyclic Synchronous Torque Mode
5.8.1 Description
The Host plans the path in Cyclic Synchronous Torque mode. In this mode, the Host
sends PDO periodically including target position and controlword to drive. In addition,
velocity offset and torque offset can be used as the velocity and torque feedforwad.
5.8.2 The Function of CST Mode
Torque
control
M
S
Target
torque
(6071
h
)
Torque offset (60B2
h
)
+
+
Position actual value
(6064
h
)
Velocity actual value
(606C
h
)
Torque actual value
(6077
h
)
5.8.3 Operation Procedures
1. Set
【
Mode of operations:6060
h
】
to cyclic synchronous torque mode (0x0A).
2. Set
【
Interpolation time period:60C2
h
】
to predict the cycle that SYNC0 receives
PDO.
60C2
h
Sub-1 for Interpolation time units. The min is from 1ms to 20ms.
-
60C2
h
Sub-2 for Interpolation time index. The value is always -3,
meaning
the interpolation time unit is 10
-3
second.
3. Drive PDO Rx:
6071
h
for Target Torque Cmd (16-bit)
6040
h
Sub-0 for ControlWord.
