Hiwin D1COE, Руководство пользователя

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Drive User Guide
33

Actual current value (0x6077): The actual current output to motor which is based on the permillage
form of motor continuous current. The unit is 0.1%.
Index Sub-index Name Type Access Value PDO mapping
0x6078 0x00 Actual Current Value UINT16 RO
﹣
[0.1%]
O

Motor rate current (0x6075): Indicate the continuous current of motor. The unit is ampere (A-amp).
Index Sub-index Name Type Access Value PDO mapping
0x6075 0x00 Motor Rated Current REAL32 RO
﹣
[A-amp] X

Torque Offset (0x60B2): In the cyclic synchronization torque mode, it is set to offset value and
added into the torque reference command.
Index Sub-index Name Type Access Value PDO mapping
0x60B2 0x00 Torque Offset INT16 RW
﹣ [0.1%]
O
The steps used to operate the motor under the profile torque mode are listed as follows:

Confirm the target velocity command 0x6071 has been mapping to RxPDO. The actual torque
0x6077, actual position 0x606C object or actual speed 0x6064 have been mapping into TxPDO.
Please refer to Chapter 7, the setting method of PDO mapping.

A. If the drive is operated under the profile torque mode, the content of 0x6060 shall be set to
4.
B. If the drive is operated under the cyclic synchronization torque mode, the content of
0x6060 shall be set to 10.

A. If the content of 0x6061 shows 4. It indicates that it has been switched to the profile torque
mode.
B. If the content of 0x6061object shows 10. It indicates that it has been switched to the cyclic
synchronization torque mode.

A. Under the profile torque mode, set up the torque slope (0x6087) first, then set up the target
torque (0x6071). Allowing the drive receive the target torque and then output the current to
the target torque value within the specific time in accordance with the set up slope.
Under the cyclic synchronization torque mode, set up the target torque (0x6071) directly and let the
motor be operated.
9.4 Homing Mode
The figure shown below is the control schematic diagram of homing mode. The host selects the
homing method and then sets up the homing speed, homing acceleration, and homing offset. By
setting up ControlWord(0x6040), homing procedures are initiated.
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