Technical Manual PD4-E-M (EtherCAT)
6 Operating modes
Acce
le
ra
tio
n
Sp
ee
d
Profile velocity (60FF
h
)
Max. acceleration (60C5
h
)
Max. deceleration (60C6
h
)
Profile acceleration (6083
h
)
Profile deceleration (6084
h
)
Velocity window (606D
h
)
Velocity window (606D
h
)
t
t
6.4 Profile Torque
6.4.1 Description
In this mode, the torque is preset as a set value and reached via a ramp function.
Note
This mode only functions if closed loop is activated, see also Commissioning Closed Loop.
Note
The limit switches and, thus, the tolerance bands are active in this mode. For further information on
the limit switches, see Limitation of the range of motion.
6.4.2 Activation
To activate the mode, the value "4" must be set in object 6060
h
(Modes Of Operation) (see "CiA 402
6.4.3 Controlword
The following bits in object 6040
(controlword) have a special function:
•
Bit 8 (Halt): If this bit is set to "1", the motor stops. If this bit is set from "1" to "0", the motor is started
up according to the presets. When setting from "0" to "1", the motor is again brought to a standstill,
taking the preset values into consideration.
6.4.4 Statusword
The following bits in object 6041
(statusword) have a special function:
•
Bit 10 (Target Reached): In combination with bit 8 of object 6040
(controlword), this bit indicates
whether the specified torque is reached (see following table). The target is considered having
been met if the current torque (6077h Torque Actual Value) is within a tolerance window (203Dh
Torque Window) for a specified time (203Eh Torque Window Time Out).
Version: 1.0.1 / FIR-v1748
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