Profile Torque Mode (Pt) - Leadshine EL8-EC Series User Manual

6085-00h
60B1-00h
2077-00h

5.7.3 Profile Torque Mode (PT)

In asynchronous motion mode, master device is only responsible for sending motion
parameters and control commands.EL7-EC servo drive will conduct trajectory planning
according to the motion parameters sent by master device after receiving the motion start
command from the master device. In asynchronous motion mode, the motion between
each axes is asynchronous.
PT Block Diagram
Polarity(2071h + 2073h)
Target torque(6071h)
Max motor velocity(6080h)
Torque change rate(6087h)
Profile deceleration(6084h)
Related Objects
Basic object
PDO Index+Sub-Index
6040-00h
(RXPDO) 6071-00h
6087-00h
6041-00h
6064-00h
(TXPDO)
606C-00h
60F4-00h
6077-00h
Quick stop deceleration
Velocity feedforward
Velocity limit
MUL
Limit
Function
Torque change rate[0.1%/S]
Limit
Function
Label
Control word
Target torque
Torque change rate
Status word
Actual feedback position
value
Actual feedback speed
value
Actual following error
Actual torque
User manual of EL8-EC***F AC Servo
U32 RW
I32 RW
I16 RW
Torque[0.1%]
Profile
Torque
Trajectory
generator
Data
Access
Type
U16 RW
I16 RW
U32 RW
U16 RO
I32 RO
I32 RO
I32 RO
I16 RO
Uint /S
Uint /S
RPM
Trajectory planning output
Unit Notes
— Required
0.1% Required
0.1%/S Optional
— Required
Optional
Uint
Optional
Uint /S
Uint Optional
0.1% Optional
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