User`s manual

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual
C27750-001 PAGE 7-29
CONTROL WORD
1. The control word implements the halt bit, as per profile torque mode. Clearing the halt bit will enable/gate
the target torque. Setting the halt bit will, in effect, set torque demand to zero.
Figure 7.11 Direct Torque Mode Control Word.
STATUS WORD
1. None of the operation mode specific bits in the status word are set or cleared when in Direct Torque Mode.
GENERAL ISSUES
1. Motor Rated Torque is not derived from a Motor Current Limit, and so must be set explicitly by the user. It
has a default value of 1. Motor Rated Torque = Rated Current * sqrt(3)/2 * motke *1000 mNm.
2. Max Torque is a programmable limit, internal to the torque control loops, and will apply regardless of the
mode of operation, since torque/current is the innermost loop.
3. Other limits such as thermal limiting, I
2
T limiting, controller current limit, motor current limit, may also
limit the Torque Demand Values.
4. In addition, because of the velocity limiting implemented in torque mode, the torque demand may be
reduced, or set to zero, to maintain the drives speed at the velocity limit.
5. In addition two parameter sets relating to torque are defined (Torque Control, and Power stage parameter
records).0 These parameters are a grouping of drive parameters into a single DS402 record. The two
records are in the table on the following page. For detailed information on the meaning of the parameters,
see the relevant sections.
SAMPLE SETUP
The following section gives an example of a typical setup for a direct torque move.
Index/Sub Index Name Value Comment
0x6040 ds402 control word 0x06 Shutdown command
0x6060 ds402 modes of operation -1 Set mode to Profile Position Mode
0x6076 dtm motor rated torque 3724 Based on motke=0.43, Rated Current = 10A.
0x6072 dtm max torque 20 Max torque = 20/1000 of rated torque = 74.48 mNm
0x6071 dtm target torque 10 Set Target Torque = 10/1000 of rated torque.
0x6040 ds402 control word 0x0F Enable Drive command
0x6077 dtm torque actual Read Actual Toque as approx. 10 during move
0x6041 ds402 status word Read as 0x0237 during move
0x6040 ds402 control word 0x10F Halt command
0x6041 ds402 status word Read as 0x0237 when halted.
Table 7.10 Sample set-up for direct torque mode