CST

CST - cyclic synchronous torque (torque control)

In CST mode the EL72x1-xxxx operates in the cyclic torque interface. A defined torque can be set via the Target torque variable.

Step-by-Step

• Add the terminal to the configuration as described in the chapter TwinCAT configuration settings - manual or - Online scan.
• Link the terminal with the NC as described in the chapter Integration in 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 (CST), Fig. Selection of the mode of operation.



• Under Predefined PDO assignment, also select Cyclic synchronous torque mode (CST), Fig. Selecting a predefined PDO assignment.



• Activate the configuration (Ctrl+Shift+F4).
• Run through the State Machine of the terminal. 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.
  
• The cyclic variable Target torque (Fig. Torque specification) can be used to specify a defined 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).