Cyclic Synchronous Torque (cst)

With the Cyclic Synchronous Torque test, the trajectory generator is located in the control device, not in the drive device. The control device provides a Target_Torque to the drive device cyclically, via PDO service, every Interpolation time period (Highest sub-index supported)(60C2H). This mode can be used only if Closed Loop modality is active.

Related objects

Index	Object	Name	Type	Attr.	M/O
6040.0H	VAR	Controlword	UNSIGNED16	rw	M
6041.0H	VAR	Statusword	UNSIGNED16	ro	M
6071.0H	VAR	Statusword	INTEGER16	rw	M
6072.0H	VAR	Max_Torque	UNSIGNED16	rw	O
6074.0H	VAR	Torque_demand	INTEGER16	ro	O
6077.0H	VAR	Torque_actual_value	INTEGER16	ro	M
6078.0H	VAR	Current_Actual_Value	INTEGER16	ro	O
2230H	ARRAY	Closed Loop	INTEGER32	rw	O
2005.4H	VAR	Nominal_Current	UNSIGNED16	rw	M
60C2H	RECORD	Interpolation time period (Highest sub-index supported)	Interpolation time period record	rw	O