Delta ASDA-B3 Series, Руководство пользователя

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CANopen Mode ASDA-B3
11-28
11
11.3.5 Profile Torque Mode
In PT (Profile Torque) mode, the controller specifies the torque command and filtering conditions,
and the motion command generator of the servo drive plans the torque slope according to these
conditions.
Target torque (6071h)
Torque slope (6087h)
Torque
command
Trajectory
generator
Filter
P1.007
Torque
control
loop
Max.
torque
(210Ch)
Encoder
Servo
motor
M
[%]
Torque actual value (6077h)
Velocity actual value (606Ch)
E-Gear ratio
6093h sub2
6093h sub1
Position actual value (6064h)
Torque demand value
(6074h)
[%]
Operation steps:
1.
Set OD 6060h to 04h to set the mode as the torque control mode.
2.
Set OD 6087h for the torque slope.
3.
Set the target torque (OD 6071h) to 0. In torque mode, the servo target torque takes
effect once the servo is switched to servo on (Step 4). Therefore, set the target torque
(OD 6071h) to 0 for safety reasons.
4.
Set OD 6040h for the control command. Follow these steps. Steps 4.1 and 4.2 are to
bring the servo drive's state machine into the ready state. For more details of the state
machine, refer to Section 11.2.2.6.
Step Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Description
4.1 0 0 1 1 0 Shutdown.
4.2 0 0 1 1 1 Switch on (ready for servo on).
4.3 0 1 1 1 1 Enable operation (servo on).
5.
Set OD 6071h for the target torque.