Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-71
RPDO
TPDO
Remarks
－
6077h: Torque actual value
Optional
6060h: Modes of operation
6061h: Modes of Operation display
Optional
6.7.2
Cyclic Synchronous Torque (CST) Mode
In this mode of operation, the host controller gives the target torque in 6071h to the Drive using cyclic
synchronization. Torque control is performed by the Drive. The Drive regulates the speed when the speed
reaches the limit.
Block Diagram
Torque
limit
function
Velocity gear ratio
6094-02h:6094-01h
Position gear ratio
6093-01h:6093-02h
Torque actual value (6077h)
Position actual
internal value
(6063h)
Torque
demand
value
(6074h)
Encoder
Motor
Torque offset (60B2h)
Max torque (6072h)
Torque
limit
Velocity actual value (606Ch)
Position actual value (6064h)
Target torque (6071h)
+
+
Speed Limit
The speed limit is determined by the smaller of 6080h value and 607F value.
Relevant Objects
Object
Bit
Name
Value Description
Controlword
6040h
0
Switch on
0
Disabled
If Bit0 to Bit3 are all 1, the Drive starts
running.
1
Enabled
1
Enable voltage
0
Disabled
1
Enabled
2
Quick stop
0
Disabled
1
Enabled
3
Enable operation
0
Disabled
1
Enabled
8
Halt
0
Executes or continues operation.
1
Stops the axis according to
Halt Option Code
(605Dh)
