System philosophy
HARDWARE REFERENCE MANUAL
46
Revision 5.0
EtherCAT Cyclic Synchronous Torque (CST) ATYPE=67
fig. 38
With
SERVO = ON
, the torque loop is closed in the TJ2-MC__. The torque
reference in the Servo Drive depends on the
FE
and the gain.
With
SERVO = OFF
, the torque reference is sent directly via the
T_REF
command. The units of the torque reference is 0.1%, so 1000 is equal to
100% rated torque.
EtherCAT Velocity (VL) ATYPE=68
fig. 39
With
SERVO = OFF
, the speed reference is sent via
S_REF
command.
SERVO
+
_
M
E
SERVO = OFF
SERVO = OFF
Position loop
Demanded
position
Measured
position
Profile generator
Following
error
TJ2-MC__
Torque Loop
Torque
command
Torque
command
TJ1-ML__
TJ2-ECT__
TJ2-KS02
Note
To monitor the torque in the Servo Drive in
DRIVE_MONITOR
, set
DRIVE_CONTROL=4
Note
Make sure object 3317h (Speed Limit Selection) is set to 0, and
set the speed limit in object 3321h (Speed Limit Value Setting).
INVERTER
+
_
M
SERVO = OFF
SERVO = OFF
TJ2-MC__
TJ2-ECT__
Position loop
Profile generator
Following
error
Speed
command
EtherCAT
Speed
command
Speed Loop
Torque Loop