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120
Digitax HD M753 Control User Guide
Issue Number: 3
9.24 Cyclic Synchronous Torque Mode
Cyclic Synchronous Torque Mode will operate on the control loop cycle
time, using the drive's torque reference (which is read by the drive every
250
μ s).
The following objects will be supported:
The target_torque object will be re-read every new control loop cycle;
this torque value will be limited by the max_current object (which is read
in the background). This torque demand will be scaled appropriately and
written to the drive
Torque Reference (Pr 04.008 ); interpolation will be
used to generate additional intermediate values if the
interpolation_time_period is greater than the interval at which the drive
will read the torque reference parameter. The drive
Motor Rated Current
(Pr 05.007 or the second motor map equivalent) will be read in the
background and written to the object motor_rated_current, which will be
read-only.
9.24.1 Target torque
This object is used to specify the target torque value. The value is given
in user-defined units.
Table 9-104 Target torque
9.24.2 Maximum current
This object is used to specify the maximum current value. The value is
given in user-defined units.
Table 9-105 Maximum current
9.24.3 Torque actual value
This object provides the actual instantaneous torque value. The value is
given in user-defined units.
Table 9-106 Torque actual value
9.24.4 Current actual value
This object provides the actual instantaneous current value. The value is
given in user-defined units.
Table 9-107 Current actual value
9.24.5 Torque offset
This object is used to specify the torque offset value. The value is given
in user-defined units.
Table 9-108 Torque offset
9.25 Error Handling
The following objects will be provided to indicate an error condition:
Table 9-109 Error register
Table 9-110 Error code
Index Name
6071 target_torque
6073 max_current
6075 motor_rated_current
6077 torque_actual_value
6078 Current actual value
60B2 Torque Offset
60C2 Interpolation_time_period
0x6071 Target torque
Sub-index 0
Access: RW
Range: -32768
to 32767
Size: 2 bytes Unit: N/A
Default: 0 Type: INT
Description:
Specifies the target torque value.
Value is in 0.1 % units. (e.g. A value of 1000 equates to 100.00 %
in Pr
04.008 ).
0x6073 Maximum current
Sub-index 0
Access: RW
Range: 0 to
65535
Size: 2 bytes Unit: N/A
Default: 0 Type: UINT
Description:
Specifies the maximum current value.
Value is in 0.1 % units. (e.g. A value of 1000 equates to 100.0 %
in Pr
04.007 ).
This value is also changed when Pr 04.007 is written to.
0x6077 Torque actual value
Sub-index 0
Access: RO
Range: -32768
to 32767
Size: 2 bytes Unit: N/A
Default: 0 Type: INT
Description:
Indicates the actual instantaneous torque value.
Value is in 0.1 % units. (e.g. A value of 1000 equates to 100.0 %
in Pr
04.003 ).
For open-loop mode, this value is taken from Pr 04.026 ,
for closed-loop mode this value is taken from Pr 04.003 .
0x6078 Current actual value
Sub-index 0
Access: RO
Range: -32768
to 32767
Size: 2 bytes Unit: N/A
Default: 0 Type: INT
Description:
Indicates the actual instantaneous current value.
Value is in 0.1 % units. (e.g. A value of 1000 equates to 100.0 %
in Pr
04.004 ).
0x60B2 Torque offset
Sub-index 0
Access: RW
Range: -32768
to 32767
Size: 2 bytes Unit: N/A
Default: 0 Type: INT
Description:
Indicates the required torque value as a percentage of rated
motor torque,
Value is in 0.1 % units,. (e.g. A value of 1000 equates to 100.0 %).
The value is written to Pr
04.008 ). The maximum and minimum is
defined by parameter Pr 4.024 (which itself is limited by drive size
and other parameters). It is therefore for this reason that range for
0x60B2 is set as the maximum range for a signed integer.
Index Name
1001 error_register
603F error_code
0x1001 Error register
Sub-index 0
Access: RO
Range: 0 to 255 Size: 1 byte Unit: N/A
Default: 0 Type: USINT
Description:
A non-zero value in this object indicates that an error has
occurred. The bit(s) set indicate the type of error present.
The following bits will be supported:
0: Generic error
1: Current
2: Voltage
3: Temperature
When an error is indicated in this object, the particular error code
will be contained in object 0x603F (Error code).
0x603F Error code
Sub-index 0
Access: RO
Range: 0x0 to
0xFFFF
Size: 2 bytes Unit: N/A
Default: 0 Type: UINT
Description:
A non-zero value in this object indicates that an error has
occurred. The value will be one of the codes described in the
Error code table below.