13.6 Torque Control Modes
13.6.1 Profile Torque Mode
13-19
13
CiA402 Drive Pr
ofile
13.6
Torque Control Modes
13.6.1
Profile Torque Mode
In the Profile Torque Mode, the torque is output up to the
target torque
according to the
torque
slope
setting.
The following figure shows the block diagram for the Profile Torque Mode.
Related Objects
*
The rated motor torque is 100%.
Index
Subindex
Name
Access
PDO
Mapping
Unit
Data
Type
6071 hex
0
Target torque
RW
Yes
0.1%
*
INT
6087 hex
0
Torque slope
RW
Yes
0.1%/s
*
UDINT
6074 hex
0
Torque demand value
RO
Yes
0.1%
*
INT
6077 hex
0
Torque actual value
RO
Yes
0.1%
*
INT
6072 hex
0
Max torque
RW
Yes
0.1%
*
UINT
60E0 hex
0
Positive torque limit value
RW
Yes
0.1%
*
UINT
60E1 hex
0
Negative torque limit value
RW
Yes
0.1%
*
UINT
Torque
trajectory
generator
Target torque (6071 hex)
Torque slope (6087 hex)
Torque
control
Torque
demand
value
(6074 hex)
Position
user unit
(2701 hex: 1, 2701 hex: 2)
Velocity
user unit
(2702 hex: 1, 2702 hex: 2)
Position actual value (6064 hex)
Velocity actual value (606C hex)
Torque actual value (6077 hex)
Position actual
internal value (6063 hex)
Max torque (6072 hex)
Torque limit values (60E0 hex and 60E1 hex)
Motor
Encoder
Multiplier
