50
(6071.00)
1: Torque control via AIN1
2: Torque control via AIN2
d3.33
2FF0.22
Int16
Voltage_MaxT_Factor
AIN-MaxTorque factor (unit: mNM/V)
User defined
d3.32
2502.09
Uint8
Analog_MaxT_Con
0: Analog_MaxTorque control OFF
1: max. torque control via AIN1;
2: max. torque control via AIN2
0, 1, 2
For convenience, some new names are used in the formula. The definitions are as follows:
AIN1_in: AIN1 input voltage after filter and offset.
AIN2_in: AIN2 input voltage after filter and offset.
Analog_out: Analog1_out or Analog2_out, depends on wiring and Analog_Torque_Con setting. It’s the result
of AIN real input, filter, offset and deadband.
Final Result:
When Analog_Torque control is ON, target torque[Nm]=Analog_out[V]*Analog_Torque_Factor[Nm/V].
When Analog_MaxTorque control is ON, max. torque[Nm]=Analog_out[V]*Analog_MaxT_Factor[Nm/V].
Example:
Refer to chapter 6.2.1, “Analog speed mode”.
6.4 Position mode (1)
In the position mode, the CMMB motor controller causes the motor to rotate to an absolute or relative
position. The position / velocity command is specified via Target_Position / Profile_Speed or via position
table (Position Table Mode)
Table 6-12: Position mode
Panel
address
Internal
address
Type
Name
Description
Value
6060.00
Int8
Operation_Mode
1
607A.00
Int32
Target_Position
Target absolute / relative position
User defined
6081.00
Int32
Profile_Speed
Profile speed for positioning
User defined
6040.00
Uint16
Controlword
See table 6-5
0x2F->0x3F,
0x4F->0x5F,
0x0F, 0x06
6.4.1 Position Table mode
The position table mode is used to run a positioning flow with up to 32 tasks in the position mode. Each task
includes information about target position, velocity, acceleration, deceleration, next task stop / go, next task
index, condition to go to next index, total loops and etc.
The Start PosTable function must be configured to a DIN in order to make the position table mode
available. Other position table functions are optional.