Note regarding USB
Because this controller is not equipped with a fieldbus, the following operating mode can only be used with a NanoJ program.
You can find further information on the programming and use of a NanoJ program in chapter Programming with NanoJ.
In this mode, the torque is preset as a set value and reached via a ramp function.
The following bits in object 6040h (controlword) have a special function:
- Bit 8 (Halt): If this bit is set to "1", the motor stops. If this bit is set from "1" to "0", the motor is started up according to the presets. When setting from "0" to "1", the motor is again brought to a standstill, taking the preset values into consideration.
The following bits in object 6041h (statusword) have a special function:
Bit 10 (Target Reached): In combination with bit 8 of object 6040h (controlword), this bit indicates whether the specified torque is reached (see following table). The target is considered having been met if the current torque (6077h Torque Actual Value) is within a tolerance window (203Dh Torque Window) for a specified time (203Eh Torque Window Time).
Description 0 0 Specified torque not reached 0 1 Specified torque reached 1 0 Axis accelerated 1 1 Axis speed is 0
- Bit 11: Limit exceeded: The target torque (6071h) exceeds the maximum torque entered in 6072h.
All values of the following entries in the object dictionary are to be specified as a thousandth of the maximum torque, which corresponds to the rated current (203Bh:01h) . This includes the objects:
6071h (Target Torque):
6072h (Max Torque):
Maximum torque during the entire ramp (accelerate, maintain torque, decelerate)
6074h (Torque Demand):
Current output value of the ramp generator (torque) for the controller
6087h (Torque Slope):
Max. change in torque per second
The following objects are also needed for this operating mode:
3202h Bit 5 (Motor Drive Submode Select):
If this bit is set to "0", the drive controller is operated in the torque-limited Velocity Mode, i.e., the maximum speed can be limited in object 2032h and the controller can operate in field weakening mode.
If this bit is set to "1", the controller operates in the ("Real") Torque Mode; the maximum speed cannot be limited here and field weakening mode is not possible.