CANopen Programmer's Manual - Maccon.de

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7: Profile Position, Velocity, and Torque Mode Operation CANopen Programmer’s Manual 7.3: Profile Torque Mode Operation Current Loop In profile torque mode, the current loop is used to reach the torque programmed in the Target Torque object (index 0x6071, p.203). When the amplifier is enabled, or the torque command is changed, the motor torque ramps to the new value at the rate programmed in Torque Slope (index 0x6087, p. 204). When the amplifier is halted, the torque ramps down at the same rate. Profile torque moves are controlled by Error! Reference source not found. (index 0x2380, p. 153). The amplifier performs profile torque moves in Profile Torque Mode (Mode Of Operation [index 0x6060, p. 64] =4). Notes: 1: The profile torque mode cannot be used with a stepper motor. 2: To convert torque commands to the current commands that actually drive the motor, the amplifier performs calculations based on the motor’s Motor Torque Constant (Index 0x2383, Sub- Index 12, p. 93) and Motor Continuous Torque (Index 0x2383, Sub-Index 14 Starting and Stopping Profile Torque Moves To start a move in profile torque mode, set the profile parameters. The amplifier will generate a move as long as the halt bit (Control Word bit 8) is not set. If the halt bit is set, the amplifier will stop the move using the torque_slope value. 200 Copley Controls
CANopen Programmer’s Manual 7: Profile Position, Velocity, and Torque Mode Operation 7.4: Profile Mode Objects Contents of this Section This section describes the objects that control operation of the amplifier in profile position, velocity, and torque modes. They include: Trajectory Jerk Limit Index 0x2121 ......................................................................................................... 202 Trajectory Generator Status Index 0x2252 ............................................................................................. 202 Trajectory Generator Destination Position Index 0x2122 ....................................................................... 201 Target Position Index 0x607A ................................................................................................................. 201 Profile Velocity Index 0x6081 .................................................................................................................. 202 Target Velocity Index 0x60FF ................................................................................................................. 202 Target Torque Index 0x6071 ................................................................................................................... 202 Torque Command Index 0x6074 ............................................................................................................ 202 Motor Rated Torque Index 0x6076 ......................................................................................................... 202 Torque Actual Value Index 0x6077 ......................................................................................................... 202 Torque Slope Index 0x6087 .................................................................................................................... 203 Torque Profile Type Index 0x6088 .......................................................................................................... 203 Profile Acceleration Index 0x6083 .......................................................................................................... 203 Profile Deceleration Index 0x6084 .......................................................................................................... 203 Quick Stop Deceleration Index 0x6085 ................................................................................................... 204 Motion Profile Type Index 0x6086 ........................................................................................................... 204 Velocity Sensor Selection Index 0x606A ................................................................................................ 204 Copley Controls 201
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CANopen Programmer's Manual - Maccon.de

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