Profile Torque Mode - Delta CMC-EC01 Operation Manual

EtherCAT Option Card CMC-EC01
5.2.2

Profile Torque Mode

After the drive receives the torque command sent by host, it controls the motor to reach the target
torque. In this mode, the target torque, torque curve and other settings are given by the host. Motion
is planned and executed by the drive motion command generator.
Target Torque (6071
Target slope (6087
h
Controlword (6040 )
h
Max. torque (6072 )
h
Motor rated torque (6076
Motor rated current (6075
Torque actual value (6077
Current actual value (6078
DC link circuit voltage (6079
The operation steps are as follows:
1. Setting mode: OD 6060h = 04h, which is the profile torque mode
2. Set torque slope: OD 6087h
3. Set torque command: OD 6071h (Unit: 0.1% of the drive rated torque)
4. Set the control command: OD 6040h, the control word command makes the drive operate
according to the above settings by using the following steps. For the state machine of the drive,
refer to OD 6041h.
(1) OD 6040h = 06h, the drive enters Ready to Switch On state
(2) OD 6040h = 0Eh, the drive enters Switch On state (Servo On)
(3) OD 6040h = 0Fh, the drive enters the Operation Enable state, which means there is torque
output
The corresponding control commands are as follows:
Steps Bit 4
(1) 0
(2) 0
(3) 0
Read drive information
1. OD 6077h, to observe motor output torque (0.1% of the motor rated torque)
2. OD 6041h, status word of the drive, bit 10 target reached (0: Target torque is not reached; 1:
Target torque is reached)
)
h
)
Trajectory
Generator
)
h
)
h
)
h
)
h
)
h
Bit 3 Bit 2 Bit 1
0 1
0 1
1 1
torque demand
Bit 0
1 0 Shutdown (Close)
1 1 Switch On (Drive Servo On Ready)
1 1 Enable Operation (Drive Servo On)
Torque
control
and
power
stage
Description
CMC-EC01 Operation Manual 29
Motor