02.2004 Communication / CBC CANopen Communication Board
Siemens AG 6SE7087-6QX70 (Version AD)
SIMOVERT MASTERDRIVES Compendium Motion Control 8.5-97
8.5.7.5 Profile Torque mode
This mode is supported only on the MASTERDRIVES MC without F01.
Profile Torque allows an axis to operate under torque control. To avoid
involving the ramp-function generator in the basic unit, the setpoint is
taken via the simple ramp-function generator 2 [FP786b]. To enable the
simple RFG (unit LU) to interact with the basic unit, basic unit
normalization 'per cent' has been selected as the LU, i.e. 100 % =
4000hex = 16384 dec.
If you want to set the ramp-function generator limits (torque limits) to
± 100 %, parameter U472.01, U472.02 must be set to ± 16384.
Accordingly, 50 % equals 8192 (= 2000h), etc.
Profile Torque mode can be set using the following objects:
The torque setpoint is specified via 6071h (target_torque). The
acceleration ramp is defined by object 6087h (torque_slope).
target_torque is specified per mille.
=> U008 = 6071h (Target_Torque) / 1000 × 4000h
(1000 per mille = 100 % = 4000h = 16384)
The same applies to 6087h (torque_slope). The unit of [6087h] is per
mille / sec according to the CAN profile. The unit of adjusting velocity of
the basic unit is LU / sec.
But LU is % in this case.
=> U471.01 = 6087h / 1000 × 4000h
(The CAN object 6088h (Torque Profile Type) belonging to Torque
mode can only be read out in MASTERDRIVES).
8.5.7.6 Setup mode
Setup mode is supported by MASTERDRIVES MC with and without
F01. Setup mode is activated with object 6060h (modes of operation)
mode FDh. A position-controlled traversing motion is activated (Jog)
with bits 11 and 12 in the control word. Bit 11 acts on bit J-FWD on
MCs with technology F01 and on bit D_FWD with B-Pos. Bit 12 acts on
J-BWD on MCs with technology F01 and on D_BWD with B-Pos. The
velocity is supplied by parameter U510.01 or U510.02 [FP819] on MCs
with technology F01. Bit 6 in the control word toggles between high and
low velocity [F_S]. The B-Pos receives its setpoints via the connectors
linked to the B-Pos block 'Setpoint transfer' [FP789a].
Setup mode can be set by means of the following objects:
Object 607Dh defines the position of the positive and negative software
limit switches in LU.
On MCs without F01, object 6081h specifies the travel velocity in Setup
mode and objects 6083h and 6084h sets the acceleration or
deceleration.
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