14.6 Torque Control Modes
14.6.1 Profile Torque Mode
14-19
14
CiA402 Drive Pr
ofile
14.6
Torque Control Modes
14.6.1
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
6071h
0
Target torque
RW
Yes
0.1%
*
INT
6087h
0
Torque slope
RW
Yes
0.1%/s
*
UDINT
6074h
0
Torque demand value
RO
Yes
0.1%
*
INT
6077h
0
Torque actual value
RO
Yes
0.1%
*
INT
6072h
0
Max torque
RW
Yes
0.1%
*
UINT
60E0h
0
Positive torque limit value
RW
Yes
0.1%
*
UINT
60E1h
0
Negative torque limit value
RW
Yes
0.1%
*
UINT
Torque
trajectory
generator
Target torque (6071h)
Torque slope (6087h)
Torque
control
Torque
demand
value
(6074h)
Position
user unit
(2701h: 1, 2701h: 2)
Velocity
user unit
(2702h: 1, 2702h: 2)
Position actual value (6064h)
Velocity actual value (606Ch)
Torque actual value (6077h)
Position actual
internal value (6063h)
Max torque (6072h)
Torque limit values (60E0h and 60E1h)
Motor
Encoder
Multiplier
