Applied-motion ST10-C-CE Manual do Utilizador Página 85
- Página / 101
- Índice
- MARCADORES
Avaliado. / 5. Com base em avaliações de clientes
85
920-0025 Rev K
3/5/2015
CANopen User Manual
Appendix G - Prole Torque Mode (Servo Only)
General Mode Description
Prole Torque mode is a servo-control torque operating mode. It requires knowledge of the
Torque Constant of the motor in Nm/A. This information can be found in the motor print.
Enable Prole Torque Mode
To enable Prole Torque Mode, the value 0004
h
must be written to the mode of operation
OD entry, located at dictionary address 6060
h
.
The mode of operation can be veried using OD 6061
h
- mode of operation display - which
is updated when the current operation mode is accepted.
Set Running Parameters
To operate in Prole Torque mode, the following parameters must be set:
Figure 17: Set Running Parameters
Enable Drive Operation
After power up or node reset, the drive is in disabled state. The value 0006
h
must be
written to the control word OD entry, located at dictionary address 6040
h
. This will put the drive
into “ready to switch on” state and is ready to enable drive operation. If the value 0006
h
is not
written to the control word rst, the drive operation can not be enabled.
To enable drive operation, the value 000F
h
must be written to the controlword OD entry,
located at dictionary address 6040
h
. This puts the drive into the Operation Enabled state with
no torque applied.
It should be noted that both enabling the halt bit and setting the target torque to zero will
ramp down the torque applied to the motor according to the torque slope. At the end of the
slope no torque will be applied to the motor, allowing the shaft to move freely.
Parameter
Name
Object Dictionary
Entry
Length (in
bytes)
Units Description
Torque Constant 7005
h
2
m • Nm
a
Motor paramter, found on the
motor print
Target Torque 6071
h
2 m • Nm
Torque to be applied to the
motor
Torque Slope 6087
h
4
m • Nm
sec
Rate at which to ramp torque to
new target
- Applied Motion Products 1
- CANopen Manual 1
- Introduction 2
- User Advisory: 2
- Contents 3
- List of Tables 6
- Reference Documents 8
- Commonly Used Acronyms 8
- Drive Setup 9
- CANopen BitRate & NodeID 10
- Drive Conguration 11
- Figure 4: 12
- Object Dictionary 13
- Electronic Data Sheet 14
- INTEGER16 RW Yes 16
- Table 5: CiA 402 Objects 17
- 920-0025 Rev K 18
- 3/5/2015 18
- CANopen User Manual 18
- General Purpose Registers 19
- Index (hex) Object 20
- Communication Prole 21
- COS Default value 25
- Subindex Name Default value 25
- Object Type Sub Number 30
- Manufacturer Specic Objects 38
- Device Prole 45
- 0x6041 StatusWord 46
- Mode of Operation Action 49
- Position polarity 52
- Bit number Description 56
- Appendix C - Response Codes 60
- General Mode Description 61
- Enable Prole Position Mode 61
- Set Running Parameters 61
- Starting/Stopping Motion 61
- Figure 12: Single Set-Point 62
- Enable Prole Velocity Mode 66
- Enable Drive Operation 66
- Appendix F - Homing Methods 68
- Homing Method 2 69
- Homing Method 3 69
- Homing Method 4 70
- Homing Method 5 70
- Homing Method 6 71
- Homing Method 7 71
- Homing Method 8 72
- Homing Method 9 72
- Homing Method 10 73
- Homing Method 11 73
- Homing Method 12 74
- Homing Method 13 74
- Homing Method 14 75
- Homing Methods 15 and 16 75
- Homing Method 17 76
- Homing Method 18 76
- Homing Methods 19 and 20 77
- Homing Methods 21 and 22 78
- Homing Methods 23 and 24 79
- Homing Methods 25 and 26 80
- Homing Methods 27 and 28 81
- Homing Methods 29 and 30 82
- Homing Methods 31 and 32 83
- Homing Method 33 83
- Homing Method 34 84
- Homing Method 35 84
- Enable Prole Torque Mode 85
- Starting/Stopping Torque 86
- Current Verication - Example 86
- Appendix H - Q Program Mode 88
- More Information 89
- NMT Mode NMT Control 90
- NMT Status Code 90
- (Heartbeat) 90
- PDO Access 91
- TPDO Transmission Types 92
- PDO Mapping Procedure 93
- Default PDO Mapping - Stepper 94
- Default PDO Mapping - Servo 94
- PDO COB-ID 95
- Control Word of Homing Mode 97
- Status Word of Homing Mode 97
- Control Word of Q Mode 98
- Status Word of Q Mode 98
- Appendix L – Example Programs 99
- Prole Velocity Mode 100
- Homing Mode 100
- Normal Q Mode 101
- Sync Q Mode 101
- PDO Mapping 101
- Applied Motion Products, Inc 101
Manuais e produtos relacionados com Hardware Applied-motion ST10-C-CE
Hardware Applied-motion STAC6-C Manual do Utilizador
(57 páginas)
(57 páginas)
Hardware Applied-motion STR2 Manual do Utilizador
(38 páginas)
(38 páginas)
Hardware Applied-motion STR4 Manual do Utilizador
(46 páginas)
(46 páginas)
Hardware Applied-motion RS-232 Manual do Utilizador
(320 páginas)
(320 páginas)
© 2020, manymanuals-pt.com. Todos os direitos reservados. | 0.150 s |
Manymanuals.com
Manymanuals.de
Manymanuals.fr
Manymanuals.it
Manymanuals.pl
Manymanuals.cz
Manymanuals.es
Manymanuals-pt.com
Comentários a estes Manuais