384 Control chain diagrams
Reference selection for torque controller
21
.0
5 E
mer
ge
n
c
y
sto
p sour
c
e
19
.1
2 E
x
t1
c
o
n
tr
ol m
o
d
e
19
.1
4 E
x
t2
c
o
n
tr
ol m
o
d
e
19
.1
1 E
x
t1
/E
x
t2
se
l
S
elec
tion
>
S
elec
tion
>
V
alue
SP
EED
V
alue
SC
A
L
A
R
99
.0
4 Mot
or
ctrl m
o
d
e
SP
EED
Saf
ety
fun
c
ti
o
n
active
19
.0
1 A
c
tu
al ope
ratio
n mod
e
V
alue
S
elec
tion
>
V
alue
V
alue
V
alue
19
.1
6 Lo
c
a
l
c
o
n
trol m
o
d
e
SP
EED
OR
V
alue
SP
EED
V
alue
AND
V
alue
V
alue
6.01
bit
0
O
ff1
c
o
n
tr
o
l
6.01
bit
2
O
ff3
c
o
n
tr
o
l
06
.1
7 bit
5 S
afe re
fere
nce ac
ti
v
e
06
.1
7 bit
6 La
s
t
s
p
ee
d active
06
.1
6 bit
8 Local c
o
n
tr
o
l
V
alue
26
.0
1 Tor
qu
e re
fe
renc
e t
o
T
C
V
alue
Spe
ed
limi
tat
ion
SPEED
TO
R
Q
U
E
MI
N
ADD
ZE
R
O
MA
X
26
.7
4 Tor
qu
e re
f ra
mp ou
t
25
.0
1 Tor
q re
fe
renc
e spee
d cont
rol
V
alue
0
To
rq
u
e
sel
ect
or
V
alue
V
alue
26
.7
5 Tor
qu
e re
feren
c
e
a
c
t
5
01
.0
1 Mot
or
sp
ee
d
us
ed
S
elec
tion
>
26
.2
1 Tor
qu
e sel
to
rq
u
e
in
S
elec
tion
>
26
.2
2 Tor
qu
e sel
s
p
e
e
d
in
V
alue
V
alue
V
alue
30
.1
1 Minim
u
m
s
p
ee
d
30
.1
2 Max
imum
s
p
e
e
d
S
elec
tion
>
30
.3
6 S
p
e
e
d
l
imit
s
ele
c
ti
o
n
S
elec
tion
>
30
.3
8 Max
sp
ee
d source
S
elec
tion
>
30
.3
7 Min
s
p
e
e
d s
o
u
rc
e
MI
N
MA
X
ACS180 FW.book Page 384 Tuesday, March 9, 2021 2:25 PM