Profile Torque Mode; Description; Operation Procedures; Advanced Setting Procedures - Delta ASDA A2-E User Manual

Chapter 5 CANopen Operation Mode

5.7 Profile Torque Mode

5.7.1 Description

The drive could receive torque command and plan profile torque slope.

5.7.2 Operation Procedures

1. Set 【Mode of operations:6060h】to profile torque mode(4).
2. Set 【Controlword:6040h】as (0x6  0x7  0x0F) to Servo ON the drive and
enable the motor.
(After Servo On the drive, the internal torque command will be reset and OD-6071h
will be cleared. It means the drive is servo-on and starts to receive the torque
command.)
3. Set 【Torque slope:6087h】to plan torque slope time. (unit: millisecond from 0 to
100% rated torque)
4. Set 【Target torque:6071h】to the target torque. The unit is given one rated torque
in a thousand.
Off or Quick-Stop is activated.)

5.7.3 Advanced Setting Procedures

Host could obtain the information of torque mode.
 Read 【Torque demand value:6074
function. (unit: one rated torque in a thousand)
 Read 【Torque rated current:6075
motor and drive type. (unit: multiples of milliamp)
 Read 【Torque actual value:6077
motor. (unit: one rated torque in a thousand)
5-14
(OD-6071h will be cleared to 0 if OD-6060h [Mode] changed. Servo-
】 to obtain the output value of the torque limit
h
】to obtain the rated current determined by the
h
】to obtain the instantaneous torque in servo
h
ASDA A2-E
Revision April, 2015