Danfoss VLT Series Programming Manual page 34

Servo Drive Operation
2 2
Velocity not
reached
Illustration 2.22 Velocity Reached Window
2.4.3 Profile Torque Mode
In Profile torque mode, the servo drive is operated under torque control and executes a movement with constant torque.
Linear ramps are used. Additional parameters, such as the torque ramp and maximum velocity can be parameterized. This
functionality can be commanded using function block MC_TorqueControl_ISD51X (see chapter 6.5.5.8 MC_Torque-
Control_ISD51x).
The Profile torque mode allows transmitting the target torque value (see chapter 7.12.1 Parameter 52-30: Target Torque
(0x6071)), which is processed via the trajectory generator. The torque slope (see chapter 7.12.7 Parameter 52-32: Torque Slope
(0x6087)) is required. The servo drive supports linear ramps for calculation of the trajectory generation. If the Controlword bit
8 (Halt) is switched from 0 to 1, or from 1 to 0, then the trajectory generator ramps its control effort output down to 0, or
up to the target torque. In both cases, the trajectory generator uses the torque slope for the ramp calculation.
Target torque (0x6071)
Target slope (0x6087)
Max torque (0x6072)
Pro le velocity (0x6081)
Max pro le velocity (0x607F)
Max motor speed (0x6080)
Motor rated torque (0x6076)
Motor rated current (0x6075)
Torque actual value (0x6077)
Current actual value (0x6078)
Illustration 2.23 Profile Torque Mode Control Function
Torque reached function
The Torque reached function offers the possibility to define a torque range around a torque demand value to be regarded as
valid. If the torque of the servo drive is within this area (see chapter 7.12.8 Parameter: Torque Window (0x2050)) for a specified
time, the torque window time (see chapter 7.12.9 Parameter: Torque Window Time (0x2051)) and the related control bit 10
Target reached, in the Statusword is set to 1.
32
®
VLT Integrated Servo Drive ISD
Accepted velocity range
Velocity Velocity
window window
Velocity reached
Target
velocity
Trajectory Torque demand (0x6074)
generator
Limit
function
Minimum
comparator Velocity limit
Danfoss A/S © 01/2017 All rights reserved.
®
510 System
Velocity
Velocity not
reached
Torque
control
and
power
stage
MG36D102