CANopen Programmer's Manual - Maccon.de

CANopen Programmer’s Manual 9: Cyclic Synchronous Modes
9.3: Cyclic Synchronous Torque Mode (CST)
When the controller has a full PID compensator to control position and velocity, the output is a
torque command to the servo drive. A torque offset value is used for vertical loads to balance
against gravity so that the torque command from the controller produces symmetrical acceleration
up and down.
The diagram below shows an overview of the cascading control structure in cyclic synchronous
torque mode (CST).
This diagram shows the CST control function with real-time and other configuration parameters.
Copley Controls 223