Cyclic Synchronous Torque Mode - Delta ASDA-A3 Series User Manual

EtherCAT Mode

13.3.7 Cyclic Synchronous Torque mode

The controller plans the torque in Cyclic Synchronous Torque (CST) mode and transmits PDOs
13
to the servo drive periodically. In this mode, when the controller transmits each PDO, it
simultaneously transmits the target torque and controlword data to the servo drive. The torque
offset can be used as the torque feed forward control setting.
Target torque (6071h)
Torque offset (60B2h)
Controlword (6040h)
Torque actual value (6077h)
Velocity actual value (606Ch)
Position actual value (6064h)
Operation steps:
1. Set OD 6060h to 0Ah to set the mode as Cyclic Synchronous Torque mode.
2. Set the target torque (OD 6071h) to 0. In Cyclic Synchronous Torque mode, the servo target
torque takes effect once the servo drive is switched to Servo On (Step 3). Therefore, set the
target torque (OD 6071h) to 0 for safety reasons.
3. Set the Controlword (OD 6040h). Follow these steps for operation. Steps 3.1 and 3.2 are to
bring the servo drive's state machine into the ready state. For more details of the state
machine, refer to the OD 6040h description in Section 13.4.
Step
3.1
3.2
3.3
4. Set OD 6071h for the target torque.
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Torque
command
Torque
trajectory
generator
Bit 4 Bit 3 Bit 2 Bit 1
0 0 1
0 0 1
0 1 1
Filter Filter
(2107h) (2219h)
Position
factor
6093h sub2
6093h sub1
Bit 0
1 0 Shutdown.
1 1 Switch on (ready for Servo On).
1 1 Enable operation (Servo On).
Torque demand value
Torque
(6074h)
control
loop
Description
ASDA-A3
Servo
motor
M
Encoder