Supported keyword and parameters for a speed sequence
Keyword Direct parameter entry Description
SeqType 0x3611-1 value = SPEED for SEQUENCE.TXT file or
value = 3 for direct parameter object
NextSeq 0x3611-2 see sequence parameters
SeqCount 0x3611-3 see sequence parameters
SeqLink 0x3611-4 see sequence parameters
Trigger 0x3611-5 see sequence parameters
Output 0x3611-6
0x3611-7
0x3611-8
see sequence parameters
StartCond 0x3611-9
0x3611-10
see sequence parameters
Tempo 0x3611-23 see sequence parameters
Speed 0x3611-15 defines the speed setpoint of this sequence in velocity unit
AccelTime 0x3611-19 defines the acceleration time in ms.
DecelTime 0x3611-20 defines the deceleration time in ms.
RunTime 0x3611-24 defines the running time in ms.
A value of 65535 corresponds to an infinite running time.
EndCond 0x3611-11
0x3611-12
see sequence parameters
3.2.3.8.4 - Torque Sequence
The torque sequence allows moving the axis with a profile speed and a current limit.
The main parameters of a torque sequence are:
- Speed setpoint
- Acceleration
- Running Time
- Current limit (Torque Limit)
In the torque control sequence, the motor is running at the speed setpoint value until the current rises up to the
limit value. The motor running direction depends on the sign of the speed setpoint. When the current limitation is
reached, the amplifier is holding this current during the time interval defined by the Running Time parameter. If
the Running Time = 65535, the torque holding time is infinite. In this case, the sequence can be left by an end
condition.
At the end of the Running Time, the current position will be captured in object 0x360B.
Notes:
When Torque Sequence is executed, the position following error is disabled.
The Torque Sequence speed is also limited by the value of the Speed Modulation (0x3081). If the speed
modulation is defined, then the sequence speed will be reduced by the speed modulation value.
Acceleration
Running Time
Speed setpoint
Speed
time
Current
To Next Page
Loading...
Need help?
General
