6. Operating modes
6.6 Torque regulation operating mode (Profile Torque Mode)
6.6.1 Overview
This chapter describes torque-regulated operation. This operating mode allows an external torque setpoint value target_torque, which can be smoothed using the
integrated ramp generator, to be specified for the motor controller. It is thus possible for this motor controller to also be used for path control, with which both the position controller and the speed regulator are displaced to an external computer.
Fig. 6.20 Structure of torque-regulated operation
The parameters ramp steepness torque_slope and ramp shape torque_profile_type must be specified for the ramp generator.
If the bit 8 halt is set in the controlword, the ramp generator lowers the torque down to zero. It rises correspondingly again to the setpoint torque target_torque when bit 8 is deleted again. In both cases, the ramp generator takes into account the ramp steepness torque_slope and the ramp shape torque_profile_type.
All definitions within this document refer to rotatable motors. If linear motors have to be used, all "torque" objects must refer to a "force" instead. For simplicity, the objects do not appear twice and their names should not be changed.
The operating modes positioning mode (profile position mode) and speed regulator (profile velocity mode) need the torque controller to work. That is why it is always necessary to set its parameters.
6.6.2 Description of the Objects
Objects treated in this chapter
Index Object Name Type Attr.
6071h VAR target_torque INT16 rw
6072h VAR max_torque UINT16 rw
6074h VAR torque_demand_value INT16 ro
6076h VAR motor_rated_torque UINT32 rw
6077h VAR torque_actual_value INT16 ro
6079h VAR dc_link_circuit_voltage UINT32 ro
60F7h RECORD power_stage_parameters rw
60F6h RECORD torque_control_parameters rw
6078h VAR current_actual_value INT16 ro
Affected objects from other chapters
Index Object Name Type Chapter
6040h VAR controlword INT16 5 Device control
60F9h RECORD motor_parameters 4.4 Current regulator and motor adjustment 6073h VAR max_current UINT16 4.4 Current regulator and motor adjustment 6075h VAR motor_rated_current UINT32 4.4 Current regulator and motor adjustment
Object 6071
h: target_torque
This parameter is the setpoint value for the torque regulator in torque-regulated operation (Profile Torque Mode). It is specified in thousandths of the nominal torque (object 6076h).
Index 6071h
Name target_torque Object Code VAR
Data Type INT16 Access rw PDO Mapping yes
Units motor_rated_torque / 1000 Value Range -32768 ... 32768
Default Value 0
Object 6072
h: max_torque
This value represents the motor's maximum permissible torque. It is specified in
thousandths of the nominal torque (object 6076h). If, for example, a 2-fold overloading of the motor is briefly permissible, the value 2000 is entered here.
The object 6072h: max_torque corresponds with the object 6073h: max_current and may not be overwritten until the object 6075h: motor_rated_current is overwritten with a valid value.
Index 6072h Name max_torque Object Code VAR
Data Type UINT16 Access rw PDO Mapping yes
Units motor_rated_torque / 1000 Value Range 1000 ... 65536
Default Value 1675
Object 6074
h: torque_demand_value
By means of this object, the current setpoint torque can be read out in thousandths of the nominal torque (6076h). The internal limitations of the controller (current limit values and I2t monitoring) are hereby taken into account.
Index 6074h
Name torque_demand_value Object Code VAR
Data Type INT16 Access ro PDO Mapping yes
Units motor_rated_torque / 1000 Value Range --
Default Value --
Object 6076
h: motor_rated_torque
This object specifies the nominal torque of the motor. This can be taken from the motor's name plate. It is entered in the unit 0.001 Nm.
Index 6076h
Name motor_rated_torque Object Code VAR
Data Type UINT32 Access rw PDO Mapping yes
Units 0.001 Nm
Value Range -- Default Value 1499
Object 6077
h: torque_actual_value
By means of this object, the motor's actual torque can be read out in thousandths of the nominal torque (object 6076h).
Index 6077h
Name torque_actual_value Object Code VAR
Data Type INT16 Access ro PDO Mapping yes
Units motor_rated_torque / 1000 Value Range --
Default Value --
Object 6078
h: current_actual_value
By means of this object, the motor's actual current can be read out in thousandths of the nominal current (object 6075h).
Index 6078h
Name current_actual_value Object Code VAR
Data Type INT16 Access ro PDO Mapping yes
Units motor_rated_current / 1000
Object 6079
h: dc_link_circuit_voltage
The intermediate circuit voltage of the controller can be read via this object. The voltage is specified in the unit millivolts.
Index 6079h
Name dc_link_circuit_voltage Object Code VAR
Data Type UINT32 Access ro PDO Mapping yes
Units mV Value Range --
Default Value --
7. Index
A
Acceleration
at of the Homing... 118
brake (positioning) ... 126
quick stop (positioning)... 127
acceleration_factor... 62
Actual position value (position units) .. 82
Actual speed value ... 142
Actual torque value ... 148
Actual value position in position_units (position_actual_value)... 82
torque (torque_actual_value)... 148
actual_size ... 134
Angle encoder offset... 73
B buffer_clear ... 135
buffer_organisation... 134
buffer_position ... 135
C CAN-interface pin assignment ... 13
cob_id_sync... 31
cob_id_used_by_pdo ... 26
Contouring error ... 77
current value ... 83
definition ... 77
error window ... 83
timeout time... 83
Contouring error time-out time... 83
Contouring error window ... 83
Control of the regulator ... 97
control_effort... 84
Controller enable ... 68
Controller enable logic... 68
controlword ... 102
bit assignment... 99, 103 commands... 104
object description... 102
Conversion factors... 55
choice of prefix ... 65
position factor ... 57
Correction speed ... 80
Current controller gain ... 74
parameter... 74
time constant... 74
Current limitation... 86
Current setpoint value ... 147
current_actual_value... 148
current_limitation ... 86
Curve generator... 123
Cycle time Heartbeat telegrams? ... 46
Cycle time PDOs... 26
D dc_link_circuit_voltage... 149
Device control... 97
Digital inputs ... 87
Digital outputs... 88
statuses... 88
digital_inputs ... 87
digital_outputs ... 88
digital_outputs_data ... 88
Divisor acceleration_factor... 62
velocity_encoder_factor ... 59
drive_data ... 68, 89 E EMERGENCY ... 31
EMERGENCY Message ... 31
structure of the... 31
Enable logic ... 68
enable_logic ... 68
encoder_offset_angle... 73
end_velocity ... 125
Error controller error ... 31
SDO error messages ... 20
Error Control Protocol heartbeat... 45, 46 Error management ... 95
Error register ... 31
error_management ... 95
F
Factor group ... 55
acceleration_factor... 62
polarity ... 65
position_factor ... 56
velocity_encoder_factor ... 59
firmware_custom_version ... 94
firmware_main_version ... 94
first_mapped_object ... 27
following_error ... 77
following_error_actual_value ... 83
following_error_time_out ... 83
following_error_window... 83
fourth_mapped_object ... 28
G Gain of the Current controller ... 74
guard_time ... 50
H Heartbeat ... 45, 46 home_offset ... 116
Homing ... 114
acceleration... 118
control of the ... 122
creep speed... 117
method ... 116
search speed ... 117
speeds... 117
zero point offset ... 116
Homing Methods ... 118
Homing Mode ... 114
Homing Mode home_offset ... 116
Homing Mode Homing_acceleration.. 118
Homing Mode homing_method ... 116
Homing Mode homing_speeds ... 117
homing_acceleration ... 118
homing_method ... 116
homing_speeds ... 117
I I2t extent of utilisation ... 72
I2t time ... 72
Identification of the device ... 92
Identifier NMT Service ... 47
Identifier for PDO... 26
identity_object ... 92
iit_ratio_motor... 72
iit_time_motor... 72
inhibit_time ... 26
Interpolation data... 132
Interpolation type ... 131
interpolation_data_configuration... 134
interpolation_data_record... 132
interpolation_submode_select... 131
interpolation_time_period... 132
ip_data_position ... 132
ip_time_index... 133
ip_time_units... 133
K km_release ... 94
L life_time_factor ... 50
Limit switch ... 89, 118, 119 emergency stop ramp... 90
polarity ... 89
limit_current ... 86
limit_current_input_channel ... 86
limit_switch_deceleration... 90
limit_switch_polarity ... 89
Load default parameters ... 53
M Manufacturer code ... 92
Mapping parameter for PDOs ... 27
max_buffer_size ... 134
max_current ... 71
max_motor_speed... 142
max_torque ... 147
Maximum motor speed... 142
Maximum Torque... 147
Mode of operation homing ... 114
modify of the ... 112
read of the ... 114
modes_of_operation ... 112
modes_of_operation_display .... 113, 114 Monitoring from Communication ... 45, 46 motion_profile_type ... 127
Motor parameter
I2t time... 72
nominal current ... 70
pin (pair) number... 71
resolver offset angle... 73
Motor peak current... 71
motor_data... 72, 73 motor_rated_current ... 70
motor_rated_torque ... 148
N Network management ... 47
New position travel to... 128
NMT Service ... 47
Nominal current motor... 70
Nominal motor current ... 70
Nominal torque of the motor ... 148
Not Ready to Switch On ... 100
Number of Mapped Objects... 27
Number of pin pairs ... 71
Number of pins ... 71
number_of_mapped_objects... 27
Numerator acceleration_factor... 62
position_factor ... 57
velocity_encoder_factor ... 59
O
Object 6040h... 102
Object 6041h... 107
Object 6073h... 71
Offset of the angle encoder ... 73
Operating mode... 112, 114 setting of the ... 112
speed adjustment... 138
torque regulations... 145
Output stage enable ... 68
Output stage parameter ... 68
enable logic ... 68
P Parameter sets download and save... 52
load default parameters ... 53
save parameter set ... 54
Parameter setting ... 52
PDO ... 22
1. Entered Object... 27
2. Entered Object... 27
3. Entered Object... 28
4. Entered Object... 28
RPDO1
1. Entered Object... 29
2. Entered Object... 29
3. Entered Object... 29
4. Entered Object... 29
COB-ID used by PDO ... 29
first mapped object ... 29
fourth mapped object... 29
identifier... 29
no. of entered objects ... 29
number of mapped objects ... 29
second mapped object ... 29
third mapped object... 29
transmission type... 29
RPDO2 1. Entered Object... 30
2. Entered Object... 30
3. Entered Object... 30
4. Entered Object... 30
COB-ID used by PDO ... 30
first mapped object ... 30
fourth mapped object... 30
identifier... 30
no. of entered objects ... 30
number of mapped objects ... 30
second mapped object ... 30
third mapped object... 30
transmission type... 30
TPDO1 1. Entered Object... 28
2. Entered Object... 28
3. Entered Object... 28
4. Entered Object... 28
COB-ID used by PDO ... 28
first mapped object ... 28
fourth mapped object... 28
identifier... 28
inhibit time... 28
no. of entered Objects... 28
number of mapped objects ... 28
second mapped object ... 28
third mapped object... 28
transmission type... 28
transmit mask ... 29
TPDO2 1. Entered Object... 29
2. Entered Object... 29
3. Entered Object... 29
4. Entered Object... 29
COB-ID used by PDO ... 29
first mapped object ... 29
fourth mapped object... 29
identifier... 29
inhibit time ... 29
no. of entered Objects ... 29
number of mapped objects ... 29
second mapped object ... 29
third mapped object ... 29
transmission type... 29
transmit mask ... 29
PDO Message ... 22
Peak current motor... 71
Permissible Torque... 147
phase_order ... 73
Pin assignment ... 13
Polarity ... 65
pole_number ... 71
Position control function ... 77
Position controller ... 77
dead zone... 81
gain ... 80
output of the ... 84
parameter... 80
Position controller gain... 80
Position controller output... 84
Position controller parameter ... 80
Position setpoint (position units) ... 81
Position value interpolation... 132
position_actual_value ... 82
position_control_gain... 80
position_control_parameter_set ... 80
position_control_v_max ... 80
position_demand_value ... 81
position_error_tolerance_window... 81
position_factor ... 56
position_reached... 78
position_window ... 84
position_window_time ... 85
Positioning ... 128
braking deceleration ... 126
handshake... 128
quick stop deceleration ... 127
speed in... 125
target position... 124
Positioning braking deceleration ... 126
Positioning profile jerk-free... 127
linear ... 127
sinus2... 127
Positioning speed ... 125
Positioning start ... 128
power_stage_temperature ... 69
pre_defined_error_field... 43
producer_heartbeat_time... 46
Product code ... 93
product_code ... 93
Profile position Mode profile_deceleration ... 126
profile_acceleration... 126
profile_deceleration ... 126
profile_velocity... 125
Profiles position Mode end_velocity ... 125
profile_acceleration... 126
profile_velocity... 125
quick_stop_deceleration ... 127
target_position... 124
Profiles Position Mode motion_profile_type ... 127
Profiles Torque Mode ... 145
current_actual_value... 148
max_torque ... 147
motor_rated_torque ... 148
target_torque ... 146
torque_actual_value ... 148
torque_demand_value ... 147
Profiles Velocity Mode ... 138
max_motor_speed... 142
target_velocity... 142
velocity_actual_value... 142
velocity_demand_value... 141
velocity_sensor ... 141
Q Quick stop deceleration... 127
quick_stop_deceleration ... 127
R Ready to Switch On... 100
Receive_PDO_1 ... 29
Receive_PDO_2 ... 30
Reference switch ... 89
Release number... 94
Resolver offset angle ... 73
resolver_offset_angle... 73
restore_all_default_parameters ... 53
restore_parameters ... 53
Revision number CANopen ... 93
revision_number... 93 falling edge... 91
rising edge... 91
Save parameter set... 54
save_all_parameters ... 54
Scaling factors ... 55
choice of prefix ... 65
position factor ... 57
SDO ... 18
Error messages... 20
SDO message ... 18
second_mapped_object ... 27
serial_number ... 93
Setpoint speed for speed adjustment 142 Setpoint torque (torque regulation) .. 146
Setpoint value current... 147
position (position units) ... 81
torque... 146
Setting of the operating mode ... 112
size_of_data_record ... 135
Speed at of the homing ... 117
in positioning... 125
Speed adjustment ... 138
max. motor speed... 142
setpoint speed... 142
speed sensor selection... 141
target speed ... 142
Speed regulator... 75
filter time constant ... 76
gain ... 76
parameter... 76
time constant ... 76
Speed sensor selection... 141
speed_during_search_for_switch... 117
speed_during_search_for_zero ... 117
standard_error_field_0... 44
standard_error_field_1... 44
standard_error_field_2... 44
standard_error_field_3... 44
State Not Ready to Switch On... 100
Ready to Switch On ... 100
Switch On Disabled ... 100
Switched On ... 100
Status Not Ready to Switch On... 100
Ready to Switch On ... 100
Switch On Disabled ... 100
Switched On ... 100
Status word bit assignment... 107
object description... 107
Stop... 120, 121 store_parameters ... 54
Switch On Disabled ... 100
SYNC... 30
SYNC message... 30
T Target position ... 124
Target position window ... 84
Target speed for speed adjustment ... 142
Target torque (torque regulation)... 146
Target window position window ... 84
time ... 85
Target window time ... 85
target_position ... 124
target_velocity... 142
third_mapped_object ... 28
Time constant of the Current controller 74 Torque limitation ... 86
scaling ... 86
setpoint value... 86
source ... 86
Torque regulation actual torque value... 148
current setpoint value ... 147
max. torque ... 147
nominal torque ... 148
setpoint torque... 146
target torque ... 146
Torque regulations ... 145
torque_actual_value... 148
torque_control_gain ... 74
torque_control_parameters... 74
torque_control_time... 74
torque_demand_value ... 147
Torque-limited speed operation ... 86
T-PDO 1 ... 28
T-PDO 2 ... 29
tpdo_1_transmit_mask... 29
tpdo_2_transmit_mask... 29
Transfer parameters for PDOs ... 26
transfer_PDO_1 ... 28
transfer_PDO_2 ... 29
transmission_type ... 26
transmit_pdo_mapping ... 27
transmit_pdo_parameter... 26
Turn-through protection ... 75
Type of transmission ... 26
V velocity_acceleration_neg ... 144
velocity_acceleration_pos ... 143
velocity_actual_value ... 142
velocity_control_filter_time... 76
velocity_control_gain ... 76
velocity_control_parameter_set ... 76
velocity_control_time ... 76
velocity_deceleration_neg... 144
velocity_deceleration_pos... 144
velocity_demand_value... 141
velocity_encoder_factor ... 59
velocity_sensor_actual_value ... 141 vendor_id ... 92 Version number of the customer-specific
variant ... 94 Version number of the firmware ... 94
W
Wiring instructions ... 14 Z
Zero point offset ... 116 Zero pulse... 122