Profile Torque Mode - Delta ASDA-A3 Series User Manual

CANopen Mode

12.3.5 Profile Torque Mode

In PT (Profile Torque) mode, the controller specifies the torque command and filtering conditions,
12 and the motion command generator of the servo drive plans the torque slope according to these
conditions.
Target torque (6071h)
Torque slope (6087h)
Positive torque limit
(60E0h)
Negative torque limit
(60E1h)
Torque actual value (6077h)
Velocity actual value (606Ch)
Position actual value (6064h)
Operation steps:
1. Set OD 6060h to 04h to set the mode as the torque control mode.
2. Set OD 6087h for the torque slope.
3. Set the target torque (OD 6071h) to 0. In torque mode, the servo target torque takes
effect once the servo is switched to servo on (step 5). Therefore, set the target torque
(OD 6071h) to 0 for safety reasons.
4. Set OD 6040h for the control command. Follow the steps below. Steps 6.1 and 6.2 are to
bring the servo drive's state machine into the ready state. For more details of the state
machine, refer to Section 12.2.2.6.
5. Set OD 6071h for the target torque.
12-28
[%]
Torque
command
Trajectory
generator
[%]
Max.
torque
(6072h)
Step Bit 4 Bit 3 Bit 2
6.1 0 0
6.2 0 0
6.3 0 1
Filter
P1.007
E-Gear ratio
6093h sub2
6093h sub1
Bit 1 Bit 0
1 1 0 Shutdown
1 1 1 Switch on (ready for servo on).
1 1 1 Enable operation (servo on).
Torque demand
(6074h) Torque
control
loop
Description
ASDA-A3
Servo
motor
M
Encoder