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IMS-MN-LMDA42C_A.pdf
Operation by hMT Modes
LMD CANopen
Profile Torque Mode
NOTE:
Profile torque mode is only available on LMD CANopen models with an encoder.
The profile torque mode allows the motor to transmit the target torque value, which is
processed via the trajectory generator in concert with the hMT logic.
The LMD will maintain constant torque on the load at the commanded torque speed.
Trajectory
Generator
Torque
control
and power
stage
Target slope (6087h)
Torque speed (2704h)
Controlword (6040h)
Motor
hMT
logic
Torque demand
Encoder counts
Polarity (607Eh)
Target torque (6071h)
Velocity (steps/sec)
Operation by hMT Modes
The LMDxC, LMDCx, and LMDAx feature four operational modes for hMT:
1. hMT off
2. hMT on (fixed current)
3. hMT on (variable current)
4. Torque control
The selected mode will have a major effect on how the device will operate during a move.
The hMT operating mode may also be changed either programmatically or immediately
provided a move is not in progress.
