Cyclic Synchronous Torque Mode - Delta CMC-EC01 Operation Manual

EtherCAT Option Card CMC-EC01
5.2.6

Cyclic Synchronous Torque Mode

The host plans the torque in the cyclic synchronous torque mode. In this mode, when the host
computer transmits each PDO, it simultaneously transmits the data of target position (target torque)
and control command (controlword) to the drive.
Target Torque (6071 )
h
Max. motor speed (6080
Interpolation time period (60C2
Max. torque (6072 )
h
The operation steps are as follows:
1. Setting mode: OD 6060h = 0Ah, which is the cyclic synchronous torque mode
2. Set torque slope: OD 6087h
3. Set target torque: 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
5. Set the target torque: OD 6071h (Unit: 0.1% of the drive rated torque)
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)
Motor rated torque (6076
)
h
)
h
Motor rated torque (6076
Bit 3 Bit 2 Bit 1
0 1 1
0 1 1
1 1 1
Multiplier
)
h
Multiplier
)
h
Bit 0 Description
0 Shutdown (Close)
1 Switch On (Drive Servo On Ready)
1 Enable Operation (Drive Servo On)
Drive
Torque actual
Control
value (6077
Function
CMC-EC01 Operation Manual 37
)
h