CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
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7: Profile Position, Velocity, and Torque Mo<strong>de</strong> Operation <strong>CANopen</strong> Programmer’s <strong>Manual</strong><br />
7.3: Profile Torque Mo<strong>de</strong> Operation<br />
Current Loop<br />
In profile torque mo<strong>de</strong>, the current loop is used to reach the torque programmed in the Target<br />
Torque object (in<strong>de</strong>x 0x6071, p.203). When the amplifier is enabled, or the torque command is<br />
changed, the motor torque ramps to the new value at the rate programmed in Torque Slope (in<strong>de</strong>x<br />
0x6087, p. 204). When the amplifier is halted, the torque ramps down at the same rate.<br />
Profile torque moves are controlled by Error! Reference source not found. (in<strong>de</strong>x 0x2380, p.<br />
153).<br />
The amplifier performs profile torque moves in Profile Torque Mo<strong>de</strong> (Mo<strong>de</strong> Of Operation [in<strong>de</strong>x<br />
0x6060, p. 64] =4).<br />
Notes:<br />
1: The profile torque mo<strong>de</strong> cannot be used with a stepper motor.<br />
2: To convert torque commands to the current commands that actually drive the motor, the<br />
amplifier performs calculations based on the motor’s Motor Torque Constant (In<strong>de</strong>x 0x2383, Sub-<br />
In<strong>de</strong>x 12, p. 93) and Motor Continuous Torque (In<strong>de</strong>x 0x2383, Sub-In<strong>de</strong>x 14<br />
Starting and Stopping Profile Torque Moves<br />
To start a move in profile torque mo<strong>de</strong>, set the profile parameters. The amplifier will generate a<br />
move as long as the halt bit (Control Word bit 8) is not set. If the halt bit is set, the amplifier will<br />
stop the move using the torque_slope value.<br />
200 Copley Controls
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