Technical Manual PD4-E-M (EtherCAT)
6 Operating modes
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
.
6.4.5 Object entries
All values of the following entries in the object dictionary are to be specified as a thousandth of the
maximum torque, which corresponds to the rated current (203B
:01
h
) . This includes the objects:
•
h
(Target Torque):
Target torque
•
h
(Max Torque):
Maximum torque during the entire ramp (accelerate, maintain torque, decelerate)
•
h
(Torque Demand):
Current output value of the ramp generator (torque) for the controller
•
h
(Torque Slope):
Max. change in torque per second
Note
These values are not limited to 100% of the rated current (203B
:01
h
). Torque values greater than
the rated torque (generated from the rated current) can be achieved if the maximum duration of the
peak current (203B
h
:02
h
) is set (see I2t Motor overload protection). All torque objects are limited
by the peak current.
The following objects are also needed for this operating mode:
•
h
Bit 5 (Motor Drive Submode Select):
If this bit is set to "0", the drive controller is operated in the torque-limited Velocity Mode, i.e., the
maximum speed can be limited in object 6080
h
and the controller can operate in field weakening
mode.
If this bit is set to "1", the controller operates in the ("Real") Torque Mode; the maximum speed
cannot be limited here and field weakening mode is not possible.
Objects of the ramp generator
Trajectory
generator
Target torque 6071h
Torque slope 6087h
Max torque 6072h
Torque demand 6074h
Version: 1.0.1 / FIR-v1748
61
