Related Functions; Recommended Configuration - Parker FL20-CA Series Product Manual

6067h 00h Position arrival
threshold
6068h 00h Position arrival
window
606Ch 00h Velocity actual value
6071h 00h Target torque
6072h 00h Max. torque
6074h 00h Torque demand value
6077h 00h Torque actual value
607Fh 00h Max profile velocity

7.5.2 Related functions

1）Torque reached.
Index Sub-index
Range of
2002h 26h
torque reached
2）Speed Limit in torque control:
Sub-
Index Name
index
Speed limit
2002h 0Bh
source
Value Description
0 The speed limit is set in 2002h-0Ch.
1 Reserved
2 The speed limit is lower value between 607Fh and motor actual spe d.

7.5.3 Recommended configuration

The basic configuration for the PT mode is as below table:
RPDO
6040h: control word
RW DINT32 Command
unit
RW INT16 ms
RO DINT32 0.1rpm
RW INT16 1%
RW UINT16 1%
RO INT16 1%
RO INT16 1%
RW UDINT32 rpm
Name
When the difference between the actual torque
and based value is larger than 2002h-26h, the
signal of torque reached is output, and status
word 6041h bit10 is set to 1. When the difference
is smaller than 2002h-26h, the signal of torque
reached is invalid, and status word 6041h bit10 is
cleared to 0.
Data
Access Unit
format
RW INT16 N/A
TPDO
6041h: status word
158
—
1～32000
0～65535 0
— —
± 800 0
0～800 200
— —
— —
—
0～13000
Description
Setting
Default
range
0～2 0
备注
Mandatory