SMC Networks LECSN-T Series User Manual

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20．PROFINET COMMUNICATION
20.6.5 Profile torque mode (tq)
The following shows the functions and related PROFIdrive parameters of the Profile torque mode (tq).
Torque
control
and
power
stage
×
×
×
×
Torque demand
(P24692)
Position actual internal
value (P24675)
× ×
Trajectry
generator
Torque slope (P24711)
Torque profile type (P24712)
Torque actual value (P24695)
Position actual value (P24676)
Velocity actual value (P24684)
Torque limit value (P24800, P24801)
Controlword (P24640)
Max torque (P24690)
Target torque (P24689)
Polarity (P24702)
Gear ratio (P24721)
Encoder
Motor
(1) Related object
PNU
Sub
Access
Name
Type
Default
value
Description
24689
0
R/W
Target torque
Integer16
Command torque
Unit: 0.1% (rated torque of 100%)
24690
0
R/W
Max torque
Unsigned16
Maximum torque
Unit: 0.1% (rated torque of 100%)
24692
0
R
Torque demand
Integer16
Command torque (after limit)
Unit: 0.1% (rated torque of 100%)
24711
0
R/W
Torque slope
Unsigned32
0
Torque variation
Unit: 0.1%/s (rated torque of 100%)
24712
0
R/W
Torque profile type
Unsigned32
0
Torque variation pattern
0000h: Linear ramp
0001h: Sin
2
ramp (not supported) (Note)
0002h to 7FFFh: reserved
8000h to FFFFh: Manufacturer specific
24675
0
R
Position actual internal
value
Integer32
Current position (Enc inc)
24676
0
R
Position actual value
Integer32
Current position (Pos units)
24684
0
R
Velocity actual value
Integer32
Current speed
Unit: Vel units (0.01 r/min )
24695
0
R
Torque actual value
Integer16
Current torque
Unit: 0.1% (rated torque of 100%)
24800
0
R/W
Positive torque limit value
Unsigned16
10000
Torque limit value (forward)
Unit: 0.1% (rated torque of 100%)
24801
0
R/W
Negative torque limit value
Unsigned16
10000
Torque limit value (reverse)
Unit: 0.1% (rated torque of 100%)
24721
0
R/W
Motor revolutions
Array [2]
Unsigned32
1
Gear ratio: Number of revolutions of the servo
motor axis (numerator)
1
R/W
Shaft revolutions
1
Gear ratio: Number of revolutions of the drive
axis (denominator)
24722
0
R/W
Feed
Array [2]
Unsigned32
Travel distance per revolution of an output
shaft
Encoder resolution of the servo motor at
initial value
1
R/W
Shaft revolutions
1
Number of servo motor shaft revolutions

SMC Networks LECSN-T Series Specifications

General

Brand	SMC Networks
Model	LECSN-T Series
Category	Controller
Language	English