Cyclic Synchronous Torque Mode (Cst) - Leadshine EL8-EC Series User Manual

5.7.2 Cyclic Synchronous Torque Mode (CST)

CST Block Diagram
Torque feedforward(60B2h)
Target torque
(6071h)
M
Polarity
U
(2071h+2073h)
L
Trajectory planning output
Actual torque(6077h)
Actual velocity feedback(606Ch)
Actual position feedback(6064h)
Related Objects
Basic object
PDO Index+Sub-Index
6040-00h
(RXPDO) 6071-00h
6087-00h
6041-00h
6064-00h
(TXPDO) 606C-00h
60F4-00h
6077-00h
Extended object
Index+Sub-Index
603F-00h
6060-00h
6061-00h
6074-00h
605A-00h
6080-00h
+
C
+
S
T
Torque
Loop
PT
Name
Control word
Target torque
Torque feed-forward
Status word
Actual position feedback
Actual velocity feedback
Actual following error
Actual torque
Name
Error code
Operation mode
Displayed operation
mode
Internal command
torque
Quick stop option
Maximum motor
velocity
User manual of EL8-EC***F AC Servo
Amplifer
Data
Access Unit
Type
U16 RW
I16 RW
U32 RW
U16 RO
I32 RO
I32 RO
I32 RO
I16 RO
Data
Access Unit
Type
U16 RO
I8 RW
I8 RO
I16 RO
I16 RW
U32 RW Uint /S
Motor
S
Remarks
— Required
Uint Required
0.1%/S Optional
— Required
Uint Optional
Uint /S Optional
Uint Optional
0.1% Required
—
—
—
0.1%
—
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