Applied-motion ST10-C-CE Manual do Utilizador descarregar pdf (Página 87)

920-0025 Rev K

3/5/2015

CANopen User Manual

bursts.

Using the target torque and torque constant from the example above the current draw can

be checked, as shown:

0.3531 Nm

= 5.0443 A

0.07

The resultant current, 5.0443A, is below the 7A continuous current rating of the drive, and

well below the peak current rating of 14A. It is possible for the drive to maintain a current of 7A

indenitely, and peak up to 14A for up to two seconds continuously. Values between 7A and

14A may be held proportionally long.

For more information: see CiA 402 - 2, Prole Torque Mode

Figure 18: Prole Torque Mode

Table 24: Prole Torque Mode Example

Graph Point Target Torque Halt Bit Drive command to Motor

Start T1 0 Ramp torque to T1

A T1 0 Maintain torque at T1

B T1 0 -> 1 Ramp torque to zero

C T1 -> T2 1 -> 0 Ramp torque to T2

D T2 -> 0 0 Ramp torque to zero

E 0 0 Maintain torque at zero

1 2 ... 82 83 84 85 86 87 88 89 90 91 92 ... 100 101

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Applied-motion ST10-C-CE Manual do Utilizador Página 87