Inovance SV660, Advanced User'S Manual, Page: 222 / 426

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7 Control Mode
Index
6074h
Name Torque demand value
Setting
Condition
& Effective
Time
-
Data
Structure
VAR Data Type int16
Access RO Mapping TPDO Related Mode All
Value
Range
-
(0.1%)
Default -
Represents the torque reference output value during running.
The value 100.0% corresponds to the rated motor torque.
Index
6077h
Name Torque actual value
Setting
Condition
& Effective
Time
-
Data
Structure
VAR Data Type int16
Access RO Mapping TPDO
Related
Mode
All
Value
Range
-
(0.1%)
Default -
Represents the actual torque output of the servo drive.
The value 100.0% corresponds to the rated motor torque.
Index
6087h
Name Torque slope
Setting
Condition
& Effective
Time
During
running &
Immediately
Data
Structure
VAR
Data
Type
UINT32
Access RW Mapping RPDO
Related
Mode
PT CST
Value
Range
0 to (2
32
–1)
(0.1%/s)
Default 2
32
-1
Defines the acceleration (torque increment per second) of the torque reference in PT mode.
For 6087h, the set value 0 will be forcibly changed to 1.
7.8.5 Recommended Configuration
The basic configuration for the PT mode is described in the following table.
RPDO TPDO Description
6040: Control word 6041:Status word Mandatory
6071: Target torque Mandatory
6087: Torque slope Optional
6064: Position actual value Optional
606C: Velocity actual value Optional
6077: Torque actual value Optional
6060: Modes of operation 6061: Modes of operation display Optional
7.8.6 Function Block Diagram
Speed
regulator
2008-01h
2008-02h
Torque
regulator
Motor
Enco-
der
Max.
speed
limit
607Fh
Max.
torque
limit
Filter
2007-06h
Torque actual value
6077h
Target torque
6071h
Torque slope
6087h
Selection during
speed limit
607Eh