7 CiA402 device profile
7.10 Cyclic sync torque mode (cst)
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Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06
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7.10 Cyclic sync torque mode (cst)
This operating mode provides a quick torque follower with speed limitation. The torque profile to
be processed is defined by the controller.
Subfunctions of the operating mode
• Torque control with speed limitation
• Calculation of the torque setpoint
• Interpolation of the setpoints from the communication cycle to the control cycle
• Limitation of the motor speed
• Update of the actual values for position, speed, and torque
Selection of the operating mode
"Cyclic synchronous torque mode" is selected with the setting "10" in 0x6060
(or 0x6860 for axis B).
Note!
• This operating mode can only be actuated reasonably if the servo control is set as
motor control. Motor control & motor settings
• Since this is a cyclic mode, setpoints in the bus cycle are expected.
If communication is interrupted and thus telegrams fail to appear, the internal "quick
stop" function takes over the braking of the motor. Afterwards, the controller is
inhibited.
Up to and including version 1.6.3:
Triggering the quick stop causes the drive to be stopped along the current limit of
0x6073
/ 0x6873. The torque limits from 0x60E0 / 0x68E0, 0x60E1 / 0x68E1 and 0x6072
/ 0x6872
are not effective during the quick stop!
From version 1.7.0
During the quick stop, both the current limit 0x6073
and the torque limit 0x6072 are
active. The smaller of the two limits determine the output motor torque. The torque
limits from 0x60E0
and 0x60E1 have no effect during the quick stop.
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