Delta ASDA-B3 Series, User Manual

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ASDA-B3 EtherCAT Mode
12-39
12
12.3.7 Cyclic Synchronous Torque Mode
The controller plans the torque in Cyclic Synchronous Torque Mode. In this mode, when the
controller transmits each PDO, it simultaneously transmits the target torque and controlword
data to the servo drive. The torque offset can be used as the torque feed forward control setting.
Target torque (6071h)
Torque offset (60B2h)
Torque
command
Torque
trajectory
generator
Filter
(2107h)
Torque
control
loop
Max
torque
(6072h)
Encoder
Servo
motor
M
Torque actual value (6077h)
Velocity actual value (606Ch)
E-Gear ratio
6093h sub2
6093h sub1
Position actual value (6064h)
Torque demand value
(6074h)
Positive
torque limit
(60E0h)
Negative
torque limit
(60E1h)
Filter
(2219h)
Controlword (6040h)
Operation steps:
1.
Set OD 6060h to 0Ah to set the mode as the Cyclic Synchronous Torque Mode.
2.
Set the target torque (OD 6071h) to 0. In Cyclic Synchronous Torque Mode, the servo target
torque takes effect once the servo is switched to Servo On (Step 3). Therefore, set the target
torque (OD 6071h) to 0 for safety reasons.
3.
Set OD 6040h for the control command. Follow these steps. Steps 3.1 and 3.2 are to bring
the servo drive's state machine into the ready state. For more details of the state machine,
refer to the description for OD 6040h in Section 12.4.
Step Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Description
3.1 0 0 1 1 0 Shutdown.
3.2 0 0 1 1 1 Switch on (ready for Servo On).
3.3 0 1 1 1 1 Enable operation (Servo On).
4.
Set OD 6071h for the target torque.