7 Operating modes
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 213
The parameters ramp steepness torque_slope and ramp shape torque_profile_type must be specified
for the ramp generator.
If the bit 8 halt is set in the controlword, the ramp generator lowers the torque down to zero. It rises
correspondingly again to the setpoint torque target_torque when bit 8 is deleted again. In both cases,
the ramp generator takes into account the ramp steepness torque_slope and the ramp shape
torque_profile_type.
All definitions within this document refer to rotatable motors. If linear motors have to be used, all
“torque” objects must refer to a “force” instead. For simplicity, the objects do not appear twice and
their names should not be changed.
The operating modes positioning mode (profile position mode) and speed regulator (profile velocity
mode) need the torque controller to work. That is why it is always necessary to set its parameters.
7.7.2 Description of the Objects
Objects treated in this chapter
Index
Object Name Type Attr.
6071
h
VAR target_torque INT16 rw
6072
h
VAR max_torque UINT16 rw
6074
h
VAR torque_demand_value INT16 ro
6076
h
VAR motor_rated_torque UINT32 rw
6077
h
VAR torque_actual_value INT16 ro
6078
h
VAR current_actual_value INT16 ro
6079
h
VAR DC_link_circuit_voltage UINT32 ro
6087
h
VAR torque_slope UINT32 rw
6088
h
VAR torque_profile_type INT16 rw
60F7
h
RECORD power_stage_parameters rw
60F6
h
RECORD torque_control_parameters rw
Affected objects from other chapters
Index Object Name Type Chapter
6040
h
VAR controlword INT16 6 Device Control
60F9
h
RECORD motor_parameters 5.5 Current Regulator and Motor Adjustment
6075
h
VAR motor_rated_current UINT32 5.5 Current Regulator and Motor Adjustment
6073
h
VAR max_current UINT16 5.5 Current Regulator and Motor Adjustment
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