Owner manual

Operating modes
Torque control
Overview
9
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KHB 13.0002−EN 4.1
9.6 Torque control
9.6.1 Overview
This chapter describes the torque−controlled operation. In this operating mode, an
external target−torque setpoint can be specified for the drive controller. Thus, it is possible
to use the drive controller also for those path controls shifting the position controller as
well as the speed controller to an external computer.
Limit Function
Torque Control
and
Power
Stage
Limit Function
motor_rated_torque
(6076h)
max_torque
(6072h)
motor_rated_current
(6075h)
max_current
(6073h)
Motor
torque_demand
(6074h)
torque_actual_value
(6077h)
current_actual_value
(6078h)
DC_link_voltage
(6079h)
target_torque
(6071h)
torque_control_parameters
(60F6h)
motor_data
(6410h)
931e_413
Fig. 26 Structure of torque−controlled operation
Ramp generators are not supported. If bit 8 (stop) of the control word is set, the current
setpoint is set to zero. Correspondingly, the target−torque setpoint is limited to
max_torque if bit 8 is deleted again.
All definitions in this document refer to rotary motors. If linear motors are used, all
"torque" objects must refer to a "force". However, the objects do not appear twice and
their names should not be changed.
The positioning (profile position mode) and speed control (profile velocity mode) operating
modes require the torque controller for their functioning. For this reason the torque
controller must always be parameterised.