Owner manual

Operating modes
Torque control
Description of the objects
9
l
120
KHB 13.0002−EN 4.1
9.6.2 Description of the objects
Index Name Possible settings
Characteristics
Lenze Selection Description
6071
h
0 target_torque 0
−32768 {motor_rated_torque/1000} 32768
VAR INT16 RW MAP
Input value for the torque
controller (torque control
operating mode).
6072
h
0 max_torque 2023
1000 {motor_rated_torque/1000} 65535
VAR UINT16 RW MAP
Input value for M
max
. The
value for index 6075
h
motor_rated_current must
be entered before this value
can be input.
6074
h
0 torque_demand_
value
{motor_rated_torque/1000}
VAR INT16 RO MAP
Reading−out of the setpoint
torque.
6076
h
0 motor_rated_
torque
1994
115 {0.001 Nm} 65535
VAR UINT32 RW MAP
Input value for M
r
(specified
on the motor nameplate).
6077
h
0 torque_actual_
value
{motor_rated_torque/1000}
VAR INT16 RO MAP
Actual torque value
6078
h
0 current_actual_
value
{motor_rated_current/1000}
VAR INT16 RO MAP
Reading−out of the actual
current value.
6079
h
0 DC_link_circuit_
voltage
0 {1 mV} 2
32
−1
VAR UINT32 RO MAP
Reading−out of the DC−bus
voltage.
60F6
h
0 torque_control_
parameters
REC UINT8 RO 
Reading−out of PI−controlled
current controller data.
The gain and the time
constant apply to both the
field−generating and the
torque−generating current
controller.
1 torque_control_
gain
256
0 {1} 32 × 256
 UINT16 RW 
Setting of the proportional
gain of the current controller.
From the SDC program:
K
p
= 1.0
Setting here:
1.0 × 256 = 256 (100
h
)
2 torque_control_
time
2000
100 {1 ms} 65500
 UINT16 RW 
Setting of the current
controller time constant.
From the SDC program:
T
n
= 2 ms
Setting here: 2 ms = 2000 ms