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7-3-4.Related object table
Index Name Units Access
6040h Control word - RW
6072h Max torque 0.1% RW
60B1h Velocity offset Command unit/s RW
60FFh Target velocity Command unit/s RW
Detection classes related to csv control mode
Index Name Units Access
6041h Statusword - RO
6063h Position actual internal value Pulse RO
6064h Position actual value Command unit RO
606Bh Velocity demand value Command unit /s RO
606Ch Velocity actual value Command unit /s RO
6074h Torque demand value
（
command torque
）
0.1% RO
6076h Motor rated torque mN·m RO
6077h Torque actual value 0.1% RO
7-4.Cyclic Synchronous Torque Mode
7-4-1.Summary
The upper computer plans the torque in the CST mode. In this mode, the host computer
transmits the target torque and control word data to the driver at the same time when
transmitting each PDO.