Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
Torque Control
7.10
Torque modes can be selected through 0x6060.
Parameter setting:
0x6060=0004
h
Profile Torque mode (PT);
0x6060=000A
h
Cyclic synchronous torque mode (CST).
Parameter Description:
PT mode is realized through the commissioning of DriveStarter. There are four
torque profile types including TTT1, TTT2, TTT3 and the sine wave mode, corresponding to simple torque profile,
programming torque profile 1, programming torque profile 2 and sinusoidal torque profile respectively in
DriveStarter. CST mode is realized through the coordination between EtherCAT master and PDO object
(target torque).
CST Mode Running
7.10.1
CSV mode running is realized by receiving the torque command from the EtherCAT master. The servo drive
receives the torque command through PDO object
, and then feeds back the actual torque value through
. For object description of 0x6071 and 0x6077, please refer to Chapter 6.3.2.
Basic Setting of Torque Control
7.10.2
Number
Index
Name
Unit
Setting range
Default
value
Effective
time
147
0x6088
Torque profile
mode
—
0x0000~0xFFFF
0x8004
Immediately
Byte0: Torque profile mode
0x0000: linear ramp (TTT0);
0x0001: sin2 ramp;
0x0002~0x7FFF: Reserved;
0x8000: TTT1;
0x8001: TTT2;
0x8002: TTT3;
0x8003: Sine wave mode (STT);
0x8004: Rotor position compensation angle test mode (FOT);
0x8005~0xFFFF: (Reserved) manufacturer specific.
Byte1~Byte3 are reserved; The default value is 0
Parameter description:
Set the torque trajectory.
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Summary of Contents for EtherCAT CoolDrive RC Series
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