4.8.7.6 Actual torque display
The display in the ru parameter group occurs with constant resolution, the resolu-
tion in the st and pr parameter group is determined by co84.
Actual torque
Resolution constant 0.1% rated torque dr09
Actuial torque
Resolution defined by co84
4.8.7.7 Status displays
In cyclic synchronous mode, bit 11 and 12 are set op mode-dependent in the sta-
tusword (0X2100 st00 / 0x6040).
The flag is set if the torque setpoint from co15 (after interpolator) and co18 cannot
be reached.
This can be caused either by reaching of a torque or current limit (parameterized
or hardware-dependent) or by leaving the torque control when an overspeed is de-
tected (see chapter 4.8.7.8 Interception of overspeeds)
drive fol-
lows com-
mand
value
Value 0: The drive does not follow the setting of target torque and torque offset.
Value 1: The drive follows the torque setpoint setting of target torque and torque
offset.
4.8.7.8 Interception of overspeeds
Parameter 0x6080 max. motor speed forms a superimposed setpoint speed limita-
tion which intervenes directly before the speed controller.
If the counter torque (load torque) is omitted in torque-controlled operation, the
drive must not accelerate to any speed.
Therefore, when reaching the parameterized maximum speed 0x6080 max.motor
speed it is switched into the speed-controlled mode.
Resolution defined by co02 velocity shift factor
The changeover is indicated in statusword bit12 (0: The drive does not follow the
setting of target torque and torque offset).
The sign of the maximum speed is taken from the sign of the torque setpoint. The
signed maximum speed is displayed in parameter ru06 ramp out display.
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