Xinje DS5C Series, Manual, Page: 63 / 121

55
7-4-2.The function of CST mode
7-4-3.Operation steps
1. set
【
Mode of operations:6060h
】
to Cyclic Synchronous Velocity Mode
（
0x09
）
2. set
【
Interpolation time period:60C2h
】
, the settings should be same to the period of SYNC0

60C2h Sub-1 can set the Interpolation time units, the range is 1ms~20ms.

60C2h Sub-2 can set the Interpolation time index, the value fixed at -3 indicates
that Interpolation time unit is 10
-3
seconds.
3. Drive PDO Rx
：

Use 6071h to set the Target Torque Cmd
（
16-bit
）

Use 6040h Sub-0 to set the control word.