Printed in the Federal Republic of Germany
TR-Electronic GmbH 2016, All Rights Reserved
09/29/2020
TR-EMO-BA-GB-0022 v03
Page 53 of 153
5.7
“Cyclic Synchronous Torque (CST)” operating mode
In this mode, the drive receives the torque target at fixed time intervals (cycles) from
the control. In this case, the drive no longer calculates ramps but only transfers the
target values directly to the torque or current controller.
In this operating mode the limit switches on the digital inputs 2
0
and 2
1
are ignored.
The target torque is transferred cyclically via PDO by means of the object 0x6071, to
which the drive responds immediately. Bit 4 in the control word does not have to be
set.
5.7.1 Control word
Bit
CONTROL WORD
0
Value 1:
Switch ready for operation
These bits are used to control
the state machine
1
Value 1:
Enable voltage
2
Value 0:
Shutdown without stop ramp
3
Value 1:
Execute operating mode
4-6 not used
7
Transition 0->1: Reset error
8
Halt
0
is not evaluated!
1
is not evaluated!
9-15 not used
Table 21: Control word (object 0x6040),
“Cyclic synchronous torque (CST)” operating mode
