Tsino Dynatron EtherCAT CoolDrive RC Series, User Manual

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Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
0x2013 Negative velocity limit value
Index 0x2013 Object type VAR Name Negative velocity limit value
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 RXPDO rw UINT32 inc/s Negative velocity limit value
Set the negative velocity limit value, and the motor will not exceed the set value. Refer to Figure7.4-6.
0x2023 Velocity Limit during Torque Control
Index 0x2023 Object type VAR Name Velocity Limit during Torque Control
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 NO rw UINT32 inc/s Velocity Limit during Torque Control
It is required to limit the motor speed in torque control mode, otherwise, it may cause motor to run out of control.
Therefore, motor speed limit function is added to protect the equipments during torque control.
Figure 7.4-6. Diagram of velocity command limit
0x2020 Positive internal torque limit value
Index 0x2020 Object type VAR Name Positive internal torque limit value
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 NO rw UINT32 ‰ Positive internal torque limit value
Set the positive internal torque limit value, and the unit is permillage of rated torque. Refer to Figure 7.4-7.
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