CSTCA (torque control with commutation angle)

CSTCA is the abbreviation for "Cyclic synchronous torque with commutation angle".

This operation mode is a torque controller like CST. In addition the user can specify the commutation angle.
You cannot use TwinCAT NC to specify speed and 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".

The variable "Commutation angle" is located in the process data object "DRV Commutation angle", which is not activated in the factory settings.
Activate the process data object "DRV Commutation angle" as follows:

1. Click the "Process Data" tab.

2. In the "Sync Manager" box, click "Outputs".

3. Check 0x1603 in the box "PDO Assignment (0x1C12)".
CSTCA (torque control with commutation angle) 1:

If the terminal is linked with an NC axis, a dialog box appears:
CSTCA (torque control with commutation angle) 2:

In the dialog box, click "No".