Profile Torque Mode - Delta ASDA-A3 Series User Manual

EtherCAT Mode

13.3.3 Profile Torque mode

In Profile Torque (PT) mode, the controller specifies the torque command and filtering conditions,
13
and then the trajectory generator of the servo drive plans the torque slope according to these
conditions.
Target torque (6071h)
Torque slope (6087h)
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 Profile Torque mode.
2. Set OD 6087h for the torque slope.
3. Set the target torque (OD 6071h) to 0. In Profile Torque mode, the servo target torque takes
effect once the servo drive is switched to Servo On (Step 4). Therefore, set the target torque
(OD 6071h) to 0 for safety reasons.
4. Set the Controlword (OD 6040h). Follow these steps for operation. Steps 4.1 and 4.2 are to
bring the servo drive's state machine into the ready state. For more details of the state
machine, refer to the OD 6040h description in Section 13.4.
Step
4.1
4.2
4.3
5. Set OD 6071h for the target torque.
13-30
Torque
command
Torque
trajectory
generator
Torque
Limit
(210Ch)
Bit 4 Bit 3 Bit 2 Bit 1
0 0 1
0 0 1
0 1 1
Filter Filter
(2107h) (2219h)
Position
factor
6093h sub2
6093h sub1
Bit 0
1 0 Shutdown.
1 1 Switch on (ready for Servo On).
1 1 Enable operation (Servo On).
Torque demand
value (6074h) Torque
control
loop
Description
ASDA-A3
Servo
motor
M
Encoder