Torque Control Modes; Profile Torque Mode - YASKAWA SGD7S-1R9D Product Manual

13.6

Torque Control Modes

13.6.1

Profile Torque Mode

In the Profile Torque Mode, the torque is output up to the target torque according to the torque
slope setting.
The following figure shows the block diagram for the Profile Torque Mode.
Target torque (6071 hex)
Torque slope (6087 hex)
Max torque (6072 hex)
Torque limit values (60E0 hex and 60E1 hex)
Torque actual value (6077 hex)
Velocity actual value (606C hex)
Position actual value (6064 hex)
Related Objects
Index
6071 hex
6087 hex
6074 hex
6077 hex
6072 hex
60E0 hex
60E1 hex
*
The rated motor torque is 100%.
Torque
trajectory
generator
Multiplier
Velocity
user unit
(2702 hex: 1, 2702 hex: 2)
Position actual
internal value (6063 hex)
Position
user unit
(2701 hex: 1, 2701 hex: 2)
Subindex Name
0 Target torque
0 Torque slope
0 Torque demand value
0 Torque actual value
0 Max torque
0 Positive torque limit value
0 Negative torque limit value
Torque
demand
value
(6074 hex)
Motor
Torque
control
Encoder
Access
RW
RW
RO
RO
RW
RW
RW
13.6 Torque Control Modes

13.6.1 Profile Torque Mode

PDO Data
Unit
Mapping Type
Yes 0.1%* INT
Yes 0.1%/s* UDINT
Yes 0.1%* INT
Yes 0.1%* INT
Yes 0.1%* UINT
Yes 0.1%* UINT
Yes 0.1%* UINT
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