YASKAWA Sigma-7 SGD7S Series

14.6 Profile Torque Mode
In the Profile Torque Mode, the torque is output up to the Target Torque according to the
Torque Slope setting.
The following figure shows the block diagram of the Profile Torque Mode.
Torque
trajectory
generator
Target Torque (6071h)
Torque Slope (6087h)
Torque
control
Torque
Demand
Value
(6074h)
Position unit
multiplier
(2301:2/2301:1)
Velocity unit
multiplier
(2302:2/2302:1)
Position Actual Value (6064h)
Velocity Actual Value (606Ch)
Torque Actual Value (6077h)
Position Actual
Internal Value (6063h)
Max. Torque (6072h)
Motor
Enc.
Fig. 368: Profile Torque Mode
Index
(hex)
Sub
Pn No.
Name
Access
PDO Mapping
Default value
Units
Type
6063h 0 B22 Position Actual Internal
Value
RO TPZD - Inc DINT
6064h 0 B24 Position Actual Value RO TPZD - Pos. units DINT
606Ch 0 B30 Velocity Actual Value RO TPZD - Inc DINT
6071h 0 B36 Target Torque RW RPZD 0 0.1%* INT
6072h 0 B38 Max. Torque RW No Max. motor
torque
0.1%* UINT
6074h 0 B3A Torque Demand Value RO TPZD 0 0.1%* INT
6077h 0 B3E Torque Actual Value RO TPZD 0 0.1%* INT
6087h 0 B56 Torque Slope RW RPZD 0 0.1%/s* UDINT
* The rated motor torque is 100%.
14.7 Torque Limits
The following figure shows the block diagram for the torque limits. The torque is limited by
the lowest limit value.
Related Objects
Sigma-7 Series SERVOPACKs
PROFIdrive Drive Profile
Torque Limits
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