CANopen DSP 402 Implementation Guide
102
The torque demand, torque actual value, current actual value may be available to the user as parameters, if they are monitored.
Elmo’s SimplIQ drives support Profile Torque mode when selected. When Profile Torque objects are set, some internal commands are affected. These internal commands remain even after another operating mode is chosen. The following list shows the objects that are affected, more information about these commands is available in the SimplIQ Command Reference manual:
Max Torque [0x6072] : Set PL[1]
Max Current [0x6073] : Set PL[1]
Torque Demand Value [0x6074] : Reflect DV[1]
Motor Rated Current [0x6075] : Set CL[1]
Torque Actual Value [0x6077] : Reflect IQ
Current Actual Value [0x6078] : Reflect IQ
Notes:
Because DSP402 defines all relevant torque and current as relative to rate values, motor current and motor torque are, herein, considered to be the same.
The following objects imitate each other and the last value entered is valid:
0x6072, 0x6073 for reference.
0x6077, 0x6078 for feedback.
14.1.1Internal states
Controlword of profile torque mode
Bit | Function |
0…3 | Described in Device Control |
4…6 | Reserved |
7 | Described in Device Control |
8 | Halt |
9…15 | Described in Device Control |
Name | Value | Description |
Halt | 0 | Execute the motion. |
| 1 | Stop axle. |
