Elmo DSP 402 manual Profiled Torque Mode, 14.1General Information

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

101

14: Profiled Torque Mode

6071h: Target torque

6072h: Max torque

6073h: Max current

6074h: Torque demand value

6075h: Motor rated current

6076h: Motor rated torque

6077h: Torque actual value

6078h: Current actual value

6087h: Torque slope

6088h: Torque profile type

14.1General Information

This chapter describes the profile torque mode. The profile torque mode allows a host (external) control system (i.e. closed-loop speed controller, open-loop transmission force controller) to transmit the target torque value, which is processed via the trajectory generator. In profile torque mode, torque slope and torque profile type parameters are required.

Should the host control system switch the controlword bit 8 (halt) from 0 to 1, then the trajectory generator ramps its control output down to zero. Should the host control system switch the controlword bit 8 (halt) from 1 to 0, then the trajectory generator ramps its control output up to the target torque. In both cases the trajectory generator takes the torque slope and torque profile type into consideration.

All definitions within this document refer to rotating motors. Linear motors require that all "torque" objects refer to a "force" instead. For the sake of simplicity, the objects are not duplicated and their names should not be modified. As an example, the linear motor target force must be transmitted using the target torque object. Refer to the object descriptions for additional information.

The SimplIQ drive deals only with the profile structure and not the control structure. For more information about the Torque\Current control loop please refer to the SimplIQ Software Manual.

The torque control parameters, power stage parameters and motor parameters are defined as objects so that they can be handled (i.e. downloaded) in a standard way. Their detailed data content is manufacturer-specific.