ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 79)

HT[N] – Holding torque
Purpose:
This command applies to the motor current in open loop stepping mode (UM=3)
HT[1] defines the holding torque, in Amperes.
HT[2] defines the torque addition due to speed, Amp/(Count/Sec)
HT[3] defines the torque addition due to acceleration, Amp/(Count/Sec
2 )
HT[2] and HT[3] are defined differently for open loop and closed loop stepper
control (see PN[9]).
• For open loop mode, HT[2] and HT[3] are defined for PN[4] counts/electrical
rev. or PN[4]xS/4 counts/mechanical rev., where S is the number of steps.
• For closed loop mode, HT[2] and HT[3] are defined for the encoder counts.
Attributes: Type: Parameter, Integer
Source: Program, RS-232, CANopen
Restrictions: None
Default value:
0 (RS), Non-volatile
Range: HT[1]: 0..CL[1], HT[2]>=0, HT[3]>=0
Index range: [1, 2, 3]
Unit modes: UM=3
Activation: Immediate
SimplIQ: New
See also:
PN[N], PF[N], UM
Application note:
Torque and position reference generation for open loop stepper
SimplIQ for Steppers Command Reference Manual Alphabetical Listing
MAN-STECR (Ver. 1.1)
71