Related Functions; Recommended Configuration; Profile Torque Mode (Pt) - Parker FL20-CA Series Product Manual

Profile
6084h 00h
deceleration time

7.4.2 Related functions

Index Sub-index Name
Velocity
606Dh 00h
threshold
Velocity
606Eh 00h
window

7.4.3 Recommended configuration

RPDO
6040h: control word
60FFh: target velocity
6083h: profile acceleration
6084h: profile deceleration
6060h: modes of operation

7.5 Profile torque mode (PT)

In this mode of operation, the controller gives the target torque in 6071h to the servo drive.
Torque control is performed by the servo drive. The servo drive will supply actual position
value, actual velocity value and actual torque value.
RW UINT16 ms
Description
When the difference between 60FFh (converted
into motor speed/RPM) and actual motor speed
is within ± 606Dh, and the time reaches 606Eh,
the servo drive considers that the speed
reference is reached, sets status word 6041h
bit10 = 1 and activates the speed reached DO
signal.
This flag bit is valid only when the S-ON signal
is valid in profile position mode and cyclic
synchronous velocity mode.
TPDO
6041h: status word
6064h: position actual value
606Ch:velocity actual value
6061h: Modes of operation display
156
0～32000 100
Remarks
Mandatory
Mandatory
Optional
Optional
Optional
Optional
Optional