Profile Torque Description In this mode, the torque is specified as the set point and is moved to via a ramp function. CAUTION This mode works in Closed-Loop only. Run over the index of the encoder at minimum once before using this function. Otherwise a switch to the state "Operational Enabled" is not possible. Note The limit switches - and therefore the tolerance bands - are active in this mode. See chapter "Tolerance bands of the limit switches" for further information about the limit switches. Activation To activate the mode, the value "4" must be set in object 6060h(Modes Of Operation) (see "DS402 Power State machine"). Control word The following bits in object 6040h(control word) have a special function: Bit 8 (Stop): If this bit is set to "0", the motor is started according to the specifications. When set to "1", the motor is brought to idling according to the specified values. Status word The following bits in object 6041h(status word) have a special function: Bit 10 (Target Reached): This bit in combination with bit 8 of object 6040h(control word) indicates whether or not the specified torque has been reached (see the following table). 6040h Bit 8 6041h Bit 10 Description 0 0 Specified torque not attained 0 1 Specified torque attained 1 0 Axis accelerated 1 1 Speed of axis is 0 Bit 11 (Torque limit active): In case the maximum torque and target torque values exceed the peak current required to achieve the desired torque (i.e., the required torque exceeds the maximum torque that can be generated) this bit will be set. Object entries All values of the following entries in the object directory must be specified as one thousandth of the maximum torque, which corresponds to the nominal current (203Bh:01h). This includes the following objects: 6071h(Target Torque): Target value of the torque. 6072h(Max Torque): Maximum torque during the entire ramp (acceleration, hold torque, brake). 6074h(Torque Demand): Current output value of the ramp generator (torque) for the control. 6087h(Torque Slope): Maximum change of the torque per second. Note The values are not limited to 100% of the nominal current (203Bh:01h). Torque values higher than nominal torque (generated by nominal current) can be achieved by setting maximum duration of peak current (203Bh:02h, see I2t motor overload protection for details). All torque objects are limited by the peak current value. The following objects are also needed for this operation mode: 3202h Bit 5 (Motor Drive Submode Select): If this bit is set to "0", the drive control is operated in torque-limited velocity mode, i.e. the maximum speed can be limited in object 2032h and the control can work in field weakening mode. If this bit is set to "1", the control works in torque mode, the maximum speed cannot be limited here and field weakening mode is not possible. Objects of the ramp generator Torque curve
Profile Torque Description In this mode, the torque is specified as the set point and is moved to via a ramp function. CAUTION This mode works in Closed-Loop only. Run over the index of the encoder at minimum once before using this function. Otherwise a switch to the state "Operational Enabled" is not possible. Note The limit switches - and therefore the tolerance bands - are active in this mode. See chapter "Tolerance bands of the limit switches" for further information about the limit switches. Activation To activate the mode, the value "4" must be set in object 6060h(Modes Of Operation) (see "DS402 Power State machine"). Control word The following bits in object 6040h(control word) have a special function: Bit 8 (Stop): If this bit is set to "0", the motor is started according to the specifications. When set to "1", the motor is brought to idling according to the specified values. Status word The following bits in object 6041h(status word) have a special function: Bit 10 (Target Reached): This bit in combination with bit 8 of object 6040h(control word) indicates whether or not the specified torque has been reached (see the following table). 6040h Bit 8 6041h Bit 10 Description 0 0 Specified torque not attained 0 1 Specified torque attained 1 0 Axis accelerated 1 1 Speed of axis is 0 Bit 11 (Torque limit active): In case the maximum torque and target torque values exceed the peak current required to achieve the desired torque (i.e., the required torque exceeds the maximum torque that can be generated) this bit will be set. Object entries All values of the following entries in the object directory must be specified as one thousandth of the maximum torque, which corresponds to the nominal current (203Bh:01h). This includes the following objects: 6071h(Target Torque): Target value of the torque. 6072h(Max Torque): Maximum torque during the entire ramp (acceleration, hold torque, brake). 6074h(Torque Demand): Current output value of the ramp generator (torque) for the control. 6087h(Torque Slope): Maximum change of the torque per second. Note The values are not limited to 100% of the nominal current (203Bh:01h). Torque values higher than nominal torque (generated by nominal current) can be achieved by setting maximum duration of peak current (203Bh:02h, see I2t motor overload protection for details). All torque objects are limited by the peak current value. The following objects are also needed for this operation mode: 3202h Bit 5 (Motor Drive Submode Select): If this bit is set to "0", the drive control is operated in torque-limited velocity mode, i.e. the maximum speed can be limited in object 2032h and the control can work in field weakening mode. If this bit is set to "1", the control works in torque mode, the maximum speed cannot be limited here and field weakening mode is not possible. Objects of the ramp generator Torque curve
Description In this mode, the torque is specified as the set point and is moved to via a ramp function. CAUTION This mode works in Closed-Loop only. Run over the index of the encoder at minimum once before using this function. Otherwise a switch to the state "Operational Enabled" is not possible. Note The limit switches - and therefore the tolerance bands - are active in this mode. See chapter "Tolerance bands of the limit switches" for further information about the limit switches.
Activation To activate the mode, the value "4" must be set in object 6060h(Modes Of Operation) (see "DS402 Power State machine").
Control word The following bits in object 6040h(control word) have a special function: Bit 8 (Stop): If this bit is set to "0", the motor is started according to the specifications. When set to "1", the motor is brought to idling according to the specified values.
Status word The following bits in object 6041h(status word) have a special function: Bit 10 (Target Reached): This bit in combination with bit 8 of object 6040h(control word) indicates whether or not the specified torque has been reached (see the following table). 6040h Bit 8 6041h Bit 10 Description 0 0 Specified torque not attained 0 1 Specified torque attained 1 0 Axis accelerated 1 1 Speed of axis is 0 Bit 11 (Torque limit active): In case the maximum torque and target torque values exceed the peak current required to achieve the desired torque (i.e., the required torque exceeds the maximum torque that can be generated) this bit will be set.
Object entries All values of the following entries in the object directory must be specified as one thousandth of the maximum torque, which corresponds to the nominal current (203Bh:01h). This includes the following objects: 6071h(Target Torque): Target value of the torque. 6072h(Max Torque): Maximum torque during the entire ramp (acceleration, hold torque, brake). 6074h(Torque Demand): Current output value of the ramp generator (torque) for the control. 6087h(Torque Slope): Maximum change of the torque per second. Note The values are not limited to 100% of the nominal current (203Bh:01h). Torque values higher than nominal torque (generated by nominal current) can be achieved by setting maximum duration of peak current (203Bh:02h, see I2t motor overload protection for details). All torque objects are limited by the peak current value. The following objects are also needed for this operation mode: 3202h Bit 5 (Motor Drive Submode Select): If this bit is set to "0", the drive control is operated in torque-limited velocity mode, i.e. the maximum speed can be limited in object 2032h and the control can work in field weakening mode. If this bit is set to "1", the control works in torque mode, the maximum speed cannot be limited here and field weakening mode is not possible. Objects of the ramp generator Torque curve
