Emerson 0471-0128-02 manual Profile Torque mode, 1 0x6071 Targettorque, 48 0x6071 Targettorque

The object vl_velocity_min_max is handled every profile cycle. The vl_target_velocity is limited according to the values set in the object vl_velocity_min_max, which is read every profile cycle. The object vl_velocity_min_max_amount is mapped to vl_velocity_min_max.

The value of the vl_velocity_demand object is calculated in the background. The option reads the value of parameter Pr 2.01 (post ramp reference), scaled from RPM to user units using vl_dimension_factor and vl_setpoint_factor, and writes the value to the vl_velocity_demand object.

On a closed-loop drive, the speed feedback is read from the drive internally every profile cycle, scaled to the same units as vl_target_velocity and written to the vl_velocity_actual_value object. On an open-loop drive, the estimated motor speed is read from Pr 5.04 (motor RPM) in the background, scaled to the units of vl_target_velocity and written to the vl_velocity_actual_value object.

The vl_velocity_acceleration and vl_velocity_deceleration objects are handled in the background. They are read, scaled to drive acceleration units (depending on the drive operating mode), and written to the drive acceleration rate and deceleration rate presets. In addition, if the drive acceleration rate preset is changed, the vl_velocity_acceleration object is updated, and if the drive deceleration rate preset is changed (Pr 2.21), the vl_velocity_deceleration object is updated.

7.6Profile Torque mode

The profile torque mode is supported on Unidrive SP, Digitax ST, Affinity, Mentor MP and Commander SK. It is possible to use this profile in regen mode on the Unidrive SP. On the Unidrive SP and Digitax ST in closed-loop or servo mode, this mode operates on the profile cycle time, using the drives internal torque shortcut (which is read by the drive every 250µs). On the Commander SK, Unidrive SP and Affinity in open-loop mode, the torque reference is written to the drive user torque parameter, which is handled every 4ms. When using profile torque mode object 0x604A vl_velocity_quick_stop will be used in the event of a quick stop (also for quick stop option codes 2 and 6 the 0x6049 vl_velocity_deceleration object will be used).

Table 7.47 shows the objects that are supported:

Table 7.47 Profile torque mode supported objects

Index	Name
0x6071	Target_torque
0x6075	Motor_rated_current
0x6078	Current_actual_value
0x6087	Torque_slope

7.6.10x6071 Target_torque

This object indicates the configured input value for the torque controller in profile torque mode. The value of this object is given per thousand of rated torque.

Table 7.48 0x6071 Target_torque

0x6071	Target_torque
Access: RW		Range: -32768 to +32767	Size: Signed 16	Unit: 0.1% of rated torque
Default:	0
Description:	Indicates the configured input value for the torque controller in profile torque mode.

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