Estun Summa Series - Profile Torque; Cyclic Synchronous Torque Mode

Summa Series Servodrive Product Manual
Appendix
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
12-62
Velocity Threshold (606Fh)
When the time specified in Velocity Threshold Time (6070h) has passed after the Velocity Actual Value is
greater than Velocity Threshold (606F), Bit12 in Statusword is set to 1.
Index
Subindex
Name
Data Type
Access
PDO Mapping
Value
606Fh
0
Velocity Threshold
UINT16
RW
Yes
0 to 65535
Default: 0
Velocity Threshold Time (6070h)
When the time specified in Velocity Threshold Time (6070h) has passed after the Velocity Actual Value is
greater than Velocity Threshold (606F), Bit12 in Statusword is set to 1.
Index
Subindex
Name
Data Type
Access
PDO Mapping
Value
6070h
0
Velocity threshold
time
UINT16
RW
Yes
0 to 65535
Default: 0
Target Velocity (60FFh)
This object specifies the target speed for Profile Velocity Mode or Cyclic Synchronous Velocity Mode in
user defined speed reference units.
Index
Subindex
Name
Data Type
Access
PDO Mapping
Value
60FFh
0
Target
Velocity
INT32
RW
Yes
-2147483648 to
2147483647
Default: 0
12.3.11 Profile Torque / Cyclic Synchronous Torque Mode
Target Torque (6071h)
This object specifies the input torque reference value for Torque Control Mode. Set the value in units of
0.1% of the Motor rated torque.
Index
Subindex
Name
Data Type
Access
PDO Mapping
Value
6071h
0
Target
Torque
INT16
RW
Yes
-32768 to 32768
Default: 0 [0.1%]
Torque Demand Value (6074h)
This object gives the currently output torque reference value. The value is given in units of 0.1% of the
Motor rated torque.