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6
Operating modes
6.7
Torque regulation operating mode (Profile Torque Mode)
6.7.1
Overview
This chapter describes torque-regulated operation. This operating mode allows an external torque
setpoint value target_torque to be specified for the motor controller. It is thus possible for this motor
controller to also be used for path control, with which both the position controller and the speed regu-
lator are displaced to an external computer.
motor_rated_torque (6076
max_torque (6072
)
h
motor_rated_current (6075
max_current (6073
)
h
max_torque (6071
)
h
Fig. 6.22
Structure of torque-regulated operation
All definitions within this document refer to rotatable motors. If linear motors have to be used, all
"torque" objects must refer to a "force" instead. For simplicity, the objects do not appear twice and
their names should not be changed.
The operating modes positioning mode (Profile Position Mode) and speed regulator (Profile Velocity
Mode) need the torque controller to work. That is why it is always necessary to set its parameters.
136
)
h
Limit
Function
)
h
Limit
Function
torque_demand _value
Torque
torque_actual_value
Control
(6077
and
current_actual_value
Power
(6078
Stage
DC_link_circuit_voltage
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
(6074
)
h
)
h
)
h
(6079
)
h
Motor
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