8-74
8-3-6-9 Cyclic Synchronous Torque (CST)
Cyclic Synchronous Torque is the cyclic command mode. Under this mode, the user must use PDO
communication to provide new commands cyclically. And JSDG2S-E servo driver will generate
commands by linear interpolation to process torque control.
Target torque (6071h)
Torque slope (6087h)
Torque
demand
(6074h)
Torque
trajectory
generator
Torque limit values (200Ah and 200Bh)
Motor
Encoder
Torque actual value (6077h)
Velocity actual value (606Ch)
Position actual value (6064h)
[0.1%]
[Vel unit]
[Pos unit]
[inc/s]
[inc]
[0.1%]
[0.1%]
[1%]
Position actual internal value (6063h)
Velocity Factor
(6095h:1, 6095h:2)
Position Factor
(6093h:1, 6093h:2)
Controlword (6040h)
Differential
Current
Controller
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