User`s manual

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402
PAGE 7-28 C27750-001
7.12 Direct Torque Mode (Manufacturer Specific)
A manufacturer specific mode for torque has been implemented, and uses parameters similar to those used in
DS402’s profile torque mode. The units for torque are also similar to those of profile torque mode, and are listed as
per thousand for motor rated torque. The diagram below shows the parameters, and their use.
Figure 7.10 Direct Torque Mode implementation.
Index Name Type Comment
0x6071 ds402 target torque S16 Set-Point for Torque, in units of per thousand of
rated torque (Default = 0)
0x6072 ds402 max torque U16 Max permissible Torque, in units of per thousand
of rated torque (Default = 0)
0x6074 ds402 torque demand value S16 Output of torque limiting function, in units of per
thousand of rated torque (Default = 0)
0x6076 ds402 motor rated torque U32 In units of mNm. (rotational), or mN. (linear)
(Default = 1)
0x6077 ds402 torque actual value S16 Instantaneous Torque in the drive motor, in units
of per thousand of rated torque (Default = 0)
Table 7.9 Table of direct torque mode parameters
Target Torque
Homing Function
Torque
Control Loop
Torque
Feedback
Factor
Motor Rated Torque
Max Torque
Factor
Limiter
Factor
Factor
Torque Actual Value
Torque Demand Value