LS ELECTRIC L7NHF Series, Руководство пользователя

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4. CiA402 Drive Profile
4-19
4.5
Torque Control Modes
4.5.1
Cyclic Synchronous Torque Mode
Cyclic Synchronous Torque (CST) mode receives the target torque (0x6071) that is renewed at every
PDO update cycle from the upper level controller to control the torque.
This mode allows the upper level controller to calculate the torque offset (0x60B2) that corresponds to
the torque feedforward and pass it to the drive.
The block diagram of the CST mode is shown below.
Torque Offset (0x60B2)
Torque Actual Value (0x6077)
Velocity Actual Value (0x606C)
Position Actual Value (0x6064)
Generate
Torque
Command
Gear Ratio
Velocity
Control
Torque
Control
M
Enc.
Velocity
Calculation
Position
Calculation
Gear Ratio
Inverse
Gear Ratio
Inverse
Position Actual Internal
Value (0x6063)
OP Mode : Cyclic Synchronous Torque
6
7
8
Maximum Torque (0x6072)
Positive Torque Limit Value (0x60E0)
Negative Torque Limit Value (0x60E1)
Maximum Profile Velocity (0x607F)
Target Torque (0x6071)
Torque Slope (0x6087)
+
+
2
1
+
+

Related Objects
Index
Sub
Index
Name
Variable
Type
Accessibility
PDO
Assignment
Unit
0x6040 - Controlword UINT RW Yes -
0x6041 - Statusword UINT RO Yes -
0x6071 - Target Velocity INT RW Yes 0.1%
0x6072 - Maximum Torque UINT RW Yes 0.1%
0x607F - Maximum Profile Velocity UDINT RW Yes UU/s
0x60E0 - Positive Torque Limit Value UINT RW Yes 0.1%
0x60E1 - Negative Torque Limit Value UINT RW Yes 0.1%
0x60B2 - Torque Offset INT RW Yes 0.1%
0x6074 - Torque Demand Value INT RO Yes 0.1%
0x606C - Velocity Actual Value DINT RO Yes UU/s