Related Functions; Recommended Configuration - Parker FL-20-C Series Product Manual

6067h 00h Position arrival
threshold
6068h 00h Position arrival
window
606Ch 00h Velocity actual value
6071h 00h Target torque
6072h 00h Max. torque
6074h 00h Torque demand value
6077h 00h Torque actual value
607Fh 00h Max profile velocity

7.5.2 Related functions

1）Torque reached.
Index Sub-index
2002h 26h
2）Speed Limit in torque control:
Sub-
Index
index
2002h 0Bh
Value Description
0 The speed limit is set in 2002h-0Ch.
1 Reserved
2 The speed limit is lower value between 607Fh and motor actual spe d.

7.5.3 Recommended configuration

The basic configuration for the PT mode is as below table:
RPDO
6040h: control word
Name
Range of
torque reached
Name Access
Speed limit
RW
source
6041h: status word
RW DINT32
RW INT16
RO DINT32
RW INT16
RW UINT16
RO INT16
RO INT16
RW UDINT32 rpm
When the difference between the actual torque
and based value is larger than 2002h-26h, the
signal of torque reached is output, and status
word 6041h bit10 is set to 1. When the difference
is smaller than 2002h-26h, the signal of torque
reached is invalid, and status word 6041h bit10 is
cleared to 0.
Data
format
INT16 N/A
TPDO
149
Command 1～32000
unit
ms 0～65535
—
0.1rpm
1% ±800
1% 0～800
—
1%
—
1%
0～13000
Description
Setting
Unit
range
0～2
—
0
—
0
200
—
—
—
Default
0
备注
Mandatory