Linear interpolation between two values (average value)
Direct acceptance of the torque setpoint
With co12 = "1: no interpolation“, the torque setpoints are directly taken over.
This setting is ideal for the "cyclic synchronous torque mode", because no control-
ler precontrols must be calculated in this mode and only the fastest possible reac-
tion of the drive to the setpoint is important.
4.8.7.3 Setpoint setting
The torque setpoints are specified via object co15.
(CiA 0x6071) target torque
target torque
Setting of the setpoint torque to the spline interpola-
tor
This parameter can be used to specify a torque offset value. This value is added
directly to the interpolator output value.
(CiA 0x60B2) torque offset
torque offset
Setting of the torque offset
The resolution of co15 and co18 is defined via co84 torque resolution. (Description
which parameters are affected by this parameter, see chapter 4.8.7.4 Torque res-
olution)
The value calculated from target torque and torque offset passes through subse-
quently the torque limiting block (see chapter 4.8.7.5 Limitation of the torque set-
ting).
The resulting torque setpoint can be smoothed with a PT1 filter. (See chapter 6.3.7
Speed controller PT1 output filter)
Pt1 time torque reference
The active setpoint for torque control is displayed in ru23
Control set torque
(resolution constant 0.1% rated torque dr09)
To Next Page
Loading...
Need help?
General
