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6 Operating modes
6.4.6 Object entries
All values of the following entries in the object dictionary are to be specified as a thousandth of the maximum
torque, which corresponds to the rated current (203B
● 6071
(Target Torque):
h
Target torque
● 6072
(Max Torque):
h
Maximum torque during the entire ramp (accelerate, maintain torque, decelerate)
● 6074
(Torque Demand):
h
Current output value of the ramp generator (torque) for the controller
● 6087
(Torque Slope):
h
Max. change in torque per second
These values are not limited to 100% of the rated current (203B
the rated torque (generated from the rated current) can be achieved if the maximum duration of the
peak current (203B
the peak current.
The following objects are also needed for this operating mode:
● 3202
Bit 5 (Motor Drive Submode Select):
h
If this bit is set to "0", the drive controller is operated in the torque-limited Velocity Mode, i.e., the
maximum speed can be limited in object 2032
If this bit is set to "1", the controller operates in the ("Real") Torque Mode; the maximum speed cannot be
limited here and field weakening mode is not possible.
6.4.6.1 Objects of the ramp generator
Target torque 6071h
Max torque 6072h
Torque slope 6087h
6.4.6.2 Torque curve
Torque slope
6087
1sec
Version: 2.0.1 / FIR-v1650
:02
) is set (see I2t Motor overload protection ). All torque objects are limited by
h
h
and the controller can operate in field weakening mode.
h
Torque demand 6074h
Trajectory
generator
Target torque 6071
h
:01
) . This includes the objects:
h
h
Note
:01
h
h
h
1sec
Torque slope
6087
h
). Torque values greater than
t
62
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