Estun Summa Series - Torque Limits

Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-73
Recommended Configuration
RPDO
TPDO
Remarks
6040h: Controlword
6041h: Statusword
Mandatory
6071h: Target Torque
－
Mandatory
－
6064h: Position Actual Value
Optional
－
606Ch: Velocity Actual value
Optional
－
6077h: Torque actual value
Optional
6060h: Modes of operation
6061h: Modes of Operation display
Optional
6.8 Torque Limits
The following figure shows the block diagram for the torque limits. The torque is limited by the objects
60E0h and 60E1h.
Torque
60E0h
Positive Torque
Limit Value
60E1h
Negative Torque
Limit Value
Position
control
Velocity
control
Position demand value
+
Torque offset
+
Torque
control
Motor
Torque limits
Positive Torque Limit Value (60E0h)
This object sets the positive torque limit. Set the value in units of 0.1% of the Motor rated torque.
The positive torque limit value is the smaller of 6072h and 60E0h.
Index
Subindex
Name
Access
Data Type
Unit
Range
Default
60E0
00
PosTorLimit
RW
UINT16
－
0 to 3000
3000
Negative Torque Limit Value (60E1h)
This object sets the negative torque limit. Set the value in units of 0.1% of the Motor rated torque.
The negative torque limit value is the smaller of 6072h and 60E1h.
Index
Subindex
Name
Access
Data Type
Unit
Range
Default
60E1
00
NegTorLimit
RW
UINT16
－
0 to 3000
3000