Applied-motion ST10-C-CE Manual do Utilizador Página 86
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CANopen User Manual
Starting/Stopping Torque
To start and stop motion, toggle the controlword halt bit (bit 8). When the halt bit is set to
0, motion will start or continue; when the halt bit is set to 1, motion will stop. The bit can be
toggled by writing 010F
h
and 000F
h
to controlword OD entry 6040
h
.
Parameter Calculations - Example
An application requires a torque of 50 oz-in. and a torque slope of 25 oz-in/sec. The motor
print lists the Torque Constant of the motor as 0.07Nm/A. The Nm/A constant given must rst
be converted into mNm/A, as required by the Torque Constant OD entry. The formula used for
this is:
0.07
Nm
• 1000
mA
= 70
m • Nm
A
A
A
As the drive works primarily in Nm, the desired 50 oz-in of torque must also be converted
into Nm, using the conversion factor 141.6 oz-in/Nm.
50 oz-in
= 0.3531 Nm
141.6
oz-in
Nm
Now, the resultant torque of 0.3531Nm must be converted into mNm, as required by the
Target Torque OD entry.
0.3531 Nm • 1000
m•Nm
= 353.1 m•Nm
Nm
The result is a value of 353 mNm, rounded to the nearest whole number, for the Target
Torque OD Entry.
Finally, the desired slope must be converted from the given units of oz-in/sec into the re-
quired units of mNm/sec.
(25
oz-in
)
*
(
1 Nm
)
*
(
1000 m•Nm
) = 176.55
m•Nm
sec
141.6 oz-in
1 Nm
sec
Rounding to the nearest whole number results in a Torque Slope of 177 mNm/sec.
Current Verication - Example
It is important to check that the current required of the drive is within the limits of the servo
amplier. The drive being used, for example, has a continuous rating of 7 amps, and a peak
current of 14 amps, which may be held continuously for 2 seconds. This means that a current
of 7 amps can be held indenitely, and currents between 7 and 14 amps may be used in short
- 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
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