Commissioning
6.3.3 CST
CST - cyclic synchronous torque (torque control)
In CST mode the EL72x1-0010 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 [}52]
- manual or - Online scan [}58].
• Link the terminal with the NC as described in the chapter Integration in the NC configuration [}85].
• Import the motor XML file into the Startup directory as described in the chapter Settings in the CoE
[}93].
• Set the mode of operation in the CoE directory to Cyclic synchronous torque mode (CST), Fig.
Selection of the mode of operation.
Fig.154: Selection of the mode of operation
• Under Predefined PDO assignment, also select Cyclic synchronous torque mode (CST), Fig. Selecting
a predefined PDO assignment.
EL72x1-0010 125Version: 2.0
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