Related Functions; Recommended Configuration; Cyclic Synchronous Torque Mode（Cst; Related Objects - Parker FL20-CA Series Product Manual

7.7.2 Related functions

Sub-
Index Name
index
Velocity arrival
606Dh 00
threshold
Velocity
606Eh 00
window

7.7.3 Recommended configuration

The basic configuration for the CSV mode is described in the following table:
RPDO
6040h: control word
60FFh: target velocity
6060h: modes of operation
7.8 Cyclic Synchronous Torque Mode（CST）
n this mode of operation, host controller gives the target torque in 6071h to the servo drive
I
using cyclic synchronization. Torque control is performed by the servo drive. The servo drive
will supply actual position value, actual speed value and actual torque value.
Torque offset 60B2h
Target torque 6071h
Fig 7.8.1 Configuration block diagram for CST mode

7.8.1 Related objects

Bit Name
Description
When the difference between 60FFh (converted into
motor speed/RPM) and actual motor speed is within
± 606Dh, and the time reaches 606Eh, the servo drive
considers that the speed reference is reached, sets
status word 6041h bit10 = 1 and activates the speed
reached DO signal.
This flag bit is valid only when S-ON signal is valid
in profile position mode and cyclic synchronous
velocity mode.
TPDO
6041h: status word
6064h: position actual value
606Ch: velocity actual value
6061h: Modes of operation display
Speed regulator
Max speed limit
2001h : 02h
607 Fh
2001h : 03h
Torque limit
Filter Torque regulator
6071h
Actual torque feedback
Control Word 6040h
164
Remarks
Mandatory
Mandatory
Optional
Optional
Optional
Motor Encoder
6077h
Description