NANOTEC PD4-C, Technical Manual, Page: 61 / 256

6 Operating modes
6.4 Profile Torque
6.4.1 Note regarding USB
Note
Because this controller is not equipped with a fieldbus, the following operating mode can only be used
with a NanoJ program.
You can find further information on the programming and use of a NanoJ program in chapter
Programming with NanoJ.
6.4.2 Description
In this mode, the torque is preset as a set value and reached via a ramp function.
Note
This mode only functions if closed loop is activated, see also Commissioning Closed Loop.
Note
The limit switches and, thus, the tolerance bands are active in this mode. For further information on
the limit switches, see Limitation of the range of motion.
6.4.3 Activation
To activate the mode, the value "4" must be set in object 6060
h
(Modes Of Operation) (see "CiA 402 Power
State Machine").
6.4.4 Controlword
The following bits in object 6040
h
(controlword) have a special function:
●
Bit 8 (Halt): If this bit is set to "1", the motor stops. If this bit is set from "1" to "0", the motor is started up
according to the presets. When setting from "0" to "1", the motor is again brought to a standstill, taking the
preset values into consideration.
6.4.5 Statusword
The following bits in object 6041
h
(statusword) have a special function:
●
Bit 10 (Target Reached): In combination with bit 8 of object 6040
h
(controlword), this bit indicates whether
the specified torque is reached (see following table). The target is considered having been met if the
current torque (6077h Torque Actual Value) is within a tolerance window (203Dh Torque Window) for a
specified time (203Eh Torque Window Time).
6040
h
Bit 8
6041
h
Bit 10
Description
0 0 Specified torque not reached
0 1 Specified torque reached
1 0 Axis accelerated
1 1 Axis speed is 0
●
Bit 11: Limit exceeded: The target torque (6071
h
) exceeds the maximum torque entered in 6072
h
.
Version: 2.0.1 / FIR-v1650 61