Profile torque mode

In profile torque mode, EMCL closes the control loop with a magnitude proportional to the applied torque, without consideration for the actual velocity or position of the system. The following diagram depicts how this mode works internally:

Profile Torque Mode Diagram

Target torque obtained from the command source is processed immediately on reception (system limits, etc.), and is delivered to the profiler afterwards. According to the predetermined parameters, the profiler generates and provides the control unit with the instantaneous target torque to be achieved. Upon reaching the target, a statusword is issued as a notification to other nodes.

Profile torque mode is not supported for AC induction motors.

Controlword in profile torque mode

The binary representation of the register value and its corresponding meaning is as follows:

Bit number:

15

9

8

7

6

5

4

3

0

-

Halt

-

Reserved

-

-

-

The action taken is described below, depending on the value of each bit:

Name

Value

Description

Halt

0

The profile torque movement must be executed.

1

Axis must be stopped.


Statusword in profile torque mode

The binary representation of the register value and its corresponding meaning is as follows:

Bit number:

15

14

13

12

11

10

9

0

-

-

-

-

Target reached

-


The meaning of each bit is described below, depending on its value:

Name

Value

Description

Target reached

0

Halt = 0: Target torque not reached
Halt = 1: Axis decelerates

1

Halt = 0: Target torque reached
Halt = 1: Axis has velocity 0


Related objects

0x6071 - Target torque

0x2502 - Flux control parameters set

0x2503 - Torque control parameters set

0x6074 - Torque demand

0x6077 - Torque actual value