Manual PD4-C (USB)
9 Operating modes
Version: 1.4.1 / 22.07.2016 / FIR-v1626
52
6040
h
Bit 8
6041
h
Bit 10
Description
0
0
Specified torque not attained
0
1
Specified torque attained
1
0
Axis accelerated
1
1
Speed of axis is 0
•
Bit 11 (Torque limit active): In case the maximum torque and target torque values exceed the peak
current required to achieve the desired torque (i.e., the required torque exceeds the maximum
torque that can be generated) this bit will be set.
9.4.6 Object entries
All values of the following entries in the object directory must be specified as one thousandth of the
maximum torque, which corresponds to the nominal current (203B
:01
h
). This includes the following
objects:
•
h
(Target Torque):
Target value of the torque.
•
h
(Max Torque):
Maximum torque during the entire ramp (acceleration, hold torque, brake).
•
h
(Torque Demand):
Current output value of the ramp generator (torque) for the control.
•
h
(Torque Slope):
Maximum change of the torque per second.
Note
The values are not limited to 100% of the nominal current (203B
h
:01
h
). Torque values higher than
nominal torque (generated by nominal current) can be achieved by setting maximum duration of peak
current (203B
:02
h
, see I2t motor overload protection for details). All torque objects are limited by
the peak current value.
The following objects are also needed for this operation mode:
•
h
Bit 5 (Motor Drive Submode Select):
If this bit is set to "0", the drive control is operated in torque-limited velocity mode, i.e. the maximum
speed can be limited in object 2032
and the control can work in field weakening mode.
If this bit is set to "1", the control works in torque mode, the maximum speed cannot be limited here
and field weakening mode is not possible.
Objects of the ramp generator
Trajectory
generator
Target torque 6071h
Torque slope 6087h
Max torque 6072h
Torque demand 6074h
