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d3.33
2FF0.22
d3.32
2502.09
For convenience, some new names are used in the formula. The definitions are as follows:
AIN1_in: AIN1 input voltage after filter and offset.
AIN2_in: AIN2 input voltage after filter and offset.
Analog_out: Analog1_out or Analog2_out, depends on wiring and Analog_Torque_Con setting. It's the result
of AIN real input, filter, offset and deadband.
Final Result:
When Analog_Torque control is ON, target torque[Nm]=Analog_out[V]*Analog_Torque_Factor[Nm/V].
When Analog_MaxTorque control is ON, max. torque[Nm]=Analog_out[V]*Analog_MaxT_Factor[Nm/V].
Example:
Refer to chapter 6.2.1, "Analog speed mode".
6.4 Position mode (1)
In the position mode, the CMMB motor controller causes the motor to rotate to an absolute or relative
position. The position / velocity command is specified via Target_Position / Profile_Speed or via position
table (Position Table Mode)
Table 6-12: Position mode
Panel
Internal
address
address
6060.00
607A.00
6081.00
6040.00
6.4.1 Position Table mode
The position table mode is used to run a positioning flow with up to 32 tasks in the position mode. Each task
includes information about target position, velocity, acceleration, deceleration, next task stop / go, next task
index, condition to go to next index, total loops and etc.
The Start PosTable function must be configured to a DIN in order to make the position table mode
available. Other position table functions are optional.
Int16
Voltage_MaxT_Factor
Uint8
Analog_MaxT_Con
Type
Name
Int8
Operation_Mode
Int32
Target_Position
Int32
Profile_Speed
Uint16
Controlword
(6071.00)
1: Torque control via AIN1
2: Torque control via AIN2
AIN-MaxTorque factor (unit: mNM/V)
0: Analog_MaxTorque control OFF
1: max. torque control via AIN1;
2: max. torque control via AIN2
Description
Target absolute / relative position
Profile speed for positioning
See table 6-5
50
User defined
0, 1, 2
Value
1
User defined
User defined
0x2F->0x3F,
0x4F->0x5F,
0x0F, 0x06
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