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ASDA-A3

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CANopen Mode

12.3.5 Profile Torque mode

In Profile Torque (PT) mode, the controller specifies the torque command and filtering

12 conditions, and then the trajectory generator of the servo drive plans the torque slope according

to these conditions.

Target torque (6071h)

Torque slope (6087h)

Torque

command

Torque limit

(210Ch)

Torque

trajectory

generator

Filter

(2107h)

Filter

(2219h)

Torque demand value

(6074h)

Torque

control loop

Servo

motor

Torque actual value (6077h)

Velocity actual value (606Ch)

M

Encoder

Position actual value (6064h)

Position factor

6093h sub2

6093h sub1

Operation steps:

1. Set OD 6060h to 04h to set the mode as Profile Torque mode.

2. Set OD 6087h for the torque slope.

3. Set the target torque (OD 6071h) to 0. In Profile Torque mode, the servo target torque takes

effect once the servo drive is switched to Servo On (Step 4). Therefore, set the target

torque (OD 6071h) to 0 for safety reasons.

4. Set the Controlword (OD 6040h). Follow these steps for operation. Steps 4.1 and 4.2 are to

bring the servo drive's state machine into the ready state. For more details of the state

machine, refer to the OD 6040h description in Section 12.4.3.3.

Step

4.1

4.2

4.3

Bit 4

0

0

0

Bit 3

0

0

1

Bit 2

1

1

1

Bit 1

1

1

1

Bit 0

0

1

1

Description

Shutdown.

Switch on (ready for Servo On).

Enable operation (Servo On).

5. Set OD 6071h for the target torque.

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