Lust MASTERCONTROL MC6000 Series, Инструкция по эксплуатации

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Instruction Manual MC6000
8-4
8.2 Torque Control Mode
As shown in the diagram, the speed controller is also enabled in torque control mode. This
special feature offers the following advantages:
•
The speed controller limits the speed to the maximum value set in parameter SCSMX. The
controller works as a P controller. Reset time SCTLG is inactive.
• If an Emergency Stop is triggered, the speed controller brakes the drive at the maximum
torque configured using TCMMX down to rpm n=0. This is an error condition which can be
reset by canceling and enabling the power stage ENPO by resetting. The I proportion SCTLG
of the speed controller is switched for the execution of Emergency Stop
Relevant parameters:
1. Torque maximum value TCMMX (_TCON)
Generally the torque limit should be determined by the servocontroller, as the maximum
torque of the motor can be approximately five times the nominal torque, but the device can
only take double the rated current for ten seconds.
If the application requires limitation of torque then TCMMX should have its parameters set
accordingly.
Note:
TCMMX limits the reference value of the torque. Only when the shaft is stationary does this
correspond to torque limitation on the motor shaft. In the case of extreme external moments
of inertia it may also apply in the dynamic context.
Torque limitation can also be set from 0 - 100% on-line using the function SCALE via analog
input ISA1 (see
Section 7.3.5).
2. Speed Maximum Value SCSMX (_SCON)
This parameter limits the maximum rpm of the motor, also when it is in torque control mode.
The maximum value of the parameter is determined by the rated speed MOSNM of the
motor in use. The maximum speed should be limited to suit the application as appropriate.
_TCON
TCTLG
m1*
m2*
TCG
+TCMMX
-TCMMX
TCMMX-m2*
-TCMMX-m2*
SCSMX
-SCSMX
B
A
1
2 3
_SCON
(SCTLG) SCG
SCG
SCGFA
SCTLG
SCSMX
SCJ
SCTS
TCG
TCTLG
TCMMX
TCTS
No. Function
A Torque controller
B Speed controller
1 To modulator and power stage
2 Torque reference value
3 Speed reference value