Velocity Offset; Cyclic Synchronous Torque Mode; Target Torque - Control Techniques Nidec SI-EtherCAT User Manual

7.8.3 0x60B1 Velocity offset
This object is used to specify the velocity offset value. The value is given in user-defined units.
Table 7-80 Velocity offset
0x60B1

Velocity offset

Sub-index 0
Access: RW
Default: 0
PDO Mappable: RxPDO
Motion Profiles: CSV
Specifies the velocity offset value per thousandths of RPM. (e.g. A value of 1000000 equates
to a reference of 1000.0 rpm in drive parameter Pr 03.022 ).
Description:
The target velocity value is added to the velocity offset value to give the final velocity
reference value
7.9

Cyclic Synchronous Torque Mode

Cyclic Synchronous Torque Mode is supported on Unidrive M600 and above.
On Unidrive M600 and above, this profile will operate on the control loop cycle time, using the
drive's torque reference (which is read by the drive every 250 µs).
The following objects will be supported:
Index
6071
6073
6075
6077
6078
60B2
60C2
The target_torque object will be re-read every new control loop cycle; this torque value will be
limited by the max_current object (which is read in the background). This torque demand will be
scaled appropriately and written to the drive Torque Reference (Pr 04.008); interpolation will be
used to generate additional intermediate values if the interpolation_time_period is greater than the
interval at which the drive will read the torque reference parameter. The drive Motor Rated Current
(Pr 05.007 or the second motor map equivalent) will be read in the background and written to the
object motor_rated_current, which will be read-only.
7.9.1

Target torque

This object is used to specify the target torque value. The value is given in user-defined units.
Table 7-81 Target torque
0x6071 Target torque
Access: RW
Default: 0
PDO Mappable: RxPDO
Motion Profiles: CST
Specifies the target torque value.
Description:
Value is in 0.1 % units. (e.g. A value of 1000 equates to 100.00 % in Pr 04.008 )
SI-EtherCAT User Guide
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Range: -2 to 2
target_torque
max_current
motor_rated_current
torque_actual_value
Current actual value
Torque Offset
Interpolation_time_period
Range: -32768 to
32767
Size: 4 bytes
-1
Type: Signed integer / DINT
Update rate: Every Network Cycle Period
Name
Size: 2 bytes
Type: Signed integer / INT
Update rate: Every Network Cycle period
Unit: N/A
Unit: 0.1 %
103