Emerson Unidrive M700 User Manual page 153

Torque reference (TorqueRef)
The torque reference word utilises 2 bytes (16 bits) as shown below.
b15
b7
For more information on the setting of the torque reference see section 7.31 AC/DC
Drive object attributes on page 174.
7.5.12 Extended speed and torque control
Output assembly object 0x17 (23
The PLC or scanner must be configured for 6 output bytes (or 3 output words) if this
assembly object is to be used.
Table 7.13 Extended speed and torque control
Data word
Word 0
Word 1
Word 2
Extended control word
The extended control word consists of 2 bytes (16 bits), with only 5 bits of the low byte
used as shown below.
b15
b7
The individual bit functions are described as follows:
Name
RunFwd
RunRev
FaultRst
NetCtrl
NetRef
For the drive to run at the speed specified in Word 1, Pr 06.043 must be ON and bit 0,
NOTE
bit 7 and bit 8 of the drive control word (Pr 06.042) must all be set to 1 and the external
hardware enable signal must be present.
SI-Ethernet User Guide
Issue: 1
b14 b13
TorqueRef (high byte)
b6 b5
Function
Extended control word.
Speed reference (SpeedRef).
Torque reference (TorqueRef).
b14 b13
b6 b5
NetRef NetCtrl
Control
Description
Word
b0 Set this bit to command the drive to run in the forward direction.
b1 Set this bit to command the drive to run in the reverse direction.
b2 A 0 to 1 transition will reset the drive if the drive was in a trip state.
Used in conjunction with Pr 06.043 to enable the drive control word
b5
bits b0-b6 and bit 9 (Pr 06.042).
Set this bit to command the drive to use the remote speed
b6
reference value specified in Word 1.
b12 b11
b4 b3
TorqueRef (low byte)
)
10
b12 b11
b4 b3
b10 b9
b2 b1
b10 b9
b2 b1
FaultRst RunRev RunFwd
b8
b0
b8
b0
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