CSTCA

This operation mode is also intended for use with the cyclic torque interface. In addition the user can specify the commutation angle. The variable Commutation angle can be used to set an angle which is to be maintained with a defined torque set in variable Target torque.

Step-by-Step

• Add the box to the configuration as described in the chapter Configuration in TwinCAT.
• Link the box with the NC as described in the chapter Integration into the NC configuration.
• Import the motor XML file into the Startup directory as described in the chapter Settings in the CoE.
• Set the mode of operation in the CoE directory to Cyclic synchronous torque mode with commutation angle (CSTCA), Fig. Selection of the mode of operation



• Under Predefined PDO assignment, also select Cyclic synchronous torque mode with commutation angle (CSTCA), Fig. Selecting a predefined PDO assignment.



• Activate the configuration (Ctrl+Shift+F4)
• Run through the State Machine of the box. There are two ways to do this:
• If you use the TwinCAT NC.
  The State Machine is run through automatically by the NC. You can enable the axis in the Online tab of the axis.
  Set all tick marks and set Override to 100% (see Fig. Set enables). The axis can then be moved.



• If you don’t use the TwinCAT NC.
  In this case you must run through the State Machine manually. To do this, follow the instructions in the chapter Commissioning without the NC.
• You can specify a defined torque via the cyclic variable Target torque. The value is specified in 1000ths of the rated current and the torque is calculated according to the following equation, where the rated current refers to the value in the index 0x8011:12 rated current.

You can specify a defined angle via the cyclic variable Commutation angle. The value is specified in 360°/2¹⁶.