Chapter 5 CANopen Operation Mode
ASDA A2-E
5-14
Revision April, 2015
5.7 Profile Torque Mode
5.7.1 Description
The drive could receive torque command and plan profile torque slope.
5.7.2 Operation Procedures
1. Set
【
Mode of operations:6060h
】
to profile torque mode(4).
2. Set
【
Controlword:6040h
】
as (0x6
0x7
0x0F) to Servo ON the drive and
enable the motor.
(After Servo On the drive, the internal torque command will be reset and OD-6071h
will be cleared. It means the drive is servo-on and starts to receive the torque
command.)
3. Set
【
Torque slope:6087h
】
to plan torque slope time. (unit: millisecond from 0 to
100% rated torque)
4. Set
【
Target torque:6071h
】
to the target torque. The unit is given one rated torque
in a thousand
.
(OD-6071h will be cleared to 0 if OD-6060h [Mode] changed. Servo-
Off or Quick-Stop is activated.)
5.7.3 Advanced Setting Procedures
Host could obtain the information of torque mode.
Read
【
Torque demand value:6074
h
】
to obtain the output value of the torque limit
function. (unit: one rated torque in a thousand)
Read
【
Torque rated current:6075
h
】
to obtain the rated current determined by the
motor and drive type. (unit: multiples of milliamp)
Read
【
Torque actual value:6077
h
】
to obtain the instantaneous torque in servo
motor. (unit: one rated torque in a thousand)