Integrated Synchronous Servo Drives
HFI 22xx / HFI 26xx / HFI 32xx / HFI 37xx
Current control/torque control mode - Current setpoint
Operating Manual Rev. 1.3
www.engelantriebe.de
Page 34
8.2.1.2
Current setpoint
The current setpoint can be selected as follows depending on the control interface type:
Control I/F
Menu, Object, Telegram
I/O mode
Optimisation
Operating mode
Setpoint source
The following current setpoint sources can be chosen:
AI1
Differential analogue input voltage, ±10 V
≙
±100 %.
RS232 (test function)
If RS232 is selected as setpoint source, a setpoint slider appears automatically on the left
side of the DSerV window. A coarse adjustment of the setpoint is possible with the slider.
The setpoint can be changed in 10 % steps using the arrow keys and in 0.1 % steps by left-
clicking in the free space of the slider component.
Constant values
Two fixed setpoints can be defined via constant value 1/2. Digital input DI6 switches be-
tween the constant values 1/2 (see
chapter 8.3 Digital inputs/limit switches
The setpoint values are defined as a percentage of the motor rated current (adjustable via Op-
timisation
Current controller
Motor rated current), i.e. 100 % = motor rated cur-
rent.
CANopen
Target Torque [6071
h
]
EtherCAT
Target Torque [6071
h
]
EtherNet/IP
Target Torque [6071
h
]
PROFINET
ENGEL Telegram 100: Target Torque [6071
h
]
(not available via standard telegrams)
Notes!
Setpoints via RS232 are for test purposes only.
Current setpoints take effect without delay, i.e. without setpoint ramp.
The polarity parameter setting (see
chapter 8.2.3.2 General positioning parameters
) is also
active in current control mode. Here, if polarity is negative, current setpoints will be invert-
ed.
Figure 8-6: Selection of setpoint source