Torque Control Modes; Profile Torque Mode - YASKAWA SGD7S-xxxDA0 series Product Manual

14.6

Torque Control Modes

14.6.1

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 (6071h)
Torque slope (6087h)
Max torque (6072h)
Torque limit values (60E0h and 60E1h)
Torque actual value (6077h)
Velocity actual value (606Ch)
Position actual value (6064h)
Related Objects
Index
6071h
6087h
6074h
6077h
6072h
60E0h
60E1h
*
The rated motor torque is 100%.
Torque
trajectory
generator
Multiplier
Velocity
user unit
(2702h: 1, 2702h: 2)
Position actual
internal value (6063h)
Position
user unit
(2701h: 1, 2701h: 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
(6074h)
Motor
Torque
control
Encoder
Access
RW
RW
RO
RO
RW
RW
RW

14.6 Torque Control Modes

14.6.1 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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