Danfoss VLT Series Programming Manual page 35

Servo Drive Operation
Target reached option code (0x2054)
Torque window time (0x2051)
Torque window (0x2050)
Torque actual value
(0x6077)
Target torque (0x6071) Limit
function
Target demand (0x6074)
Target torque (0x6071)
Illustration 2.24 Torque Reached - Functional Overview
Illustration 2.25 shows the definitions of the sub-function Torque reached. A window is defined for the accepted torque range
symmetrically around the velocity. If a servo drive is running within the accepted torque range over the time torque window
time, the bit target reached (bit 10) in the Statusword is set to 1.
Accepted torque range
Torque
window
Torque not
Torque reached
reached
Target
torque
Illustration 2.25 Torque Reached Window
2.4.4 Homing Mode
In Homing mode, the application reference position of the servo drive can be set. Several homing methods, described in this
chapter, are available.
This functionality can be commanded using MC_Home_ISD51x (see chapter 6.5.5.1 MC_Home_ISD51x).
The home position is the position where an event was triggered. The type of event depends on the homing method (for
example, detection of an edge of a switch). Based on this home position and the home offset (see chapter 7.13.1 Parameter
52-40: Home Offset (0x607C)), the new zero position is calculated (see Illustration 2.26).
Zero
position
Illustration 2.26 Home Offset Definition
MG36D102
Programming Guide
Window
Timer
comparator
Selector
Comparator
Torque
Torque
window
Torque not
reached
Home
position
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Target reached
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