CST (torque control)

CST is the abbreviation for "Cyclic Synchronous Torque".

The CST operation mode is set in 0x7010:03 "Modes of operation" as described in "Setting the operation mode".
The Predefined PDO Assignment "Torque" is set as described in "Selection of process data".
1. Setting the torque
A defined torque can be set via the process data "Target torque". You cannot use TwinCAT NC to specify the torque.
CST (torque control) 1:
Setting the torque via process data "Target torque"
CST (torque control) 2:

Cycle time

For all operation modes, the cycle time must be an integer multiple of 62.5 µs,
at least 125 µs.

When using the drive motion control (DMC), the cycle time must not be faster than 250 µs.