ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 186)

Maestro Software Manual DS402 Command Reference
MAN-MASSW (Ver. Q)
10-41
end while
a1.ptt=0
//target torque 0
end function
10.6.2.2 Description of the Profiled Torque Mode Command
Profiled Torque mode implementation on the SimplIQ family of digital servo
drives:
• Works with linear ramp torque profile only
(TorqueProfileType=0).
• SimplIQ Command Reference:
pmxt - profile max torque: Set PL[1]
pmxc - profile max current: Set PL[1]
pdt - profile demand torque: Reflect DV[1]
mrc - motor rate current: Set CL[1]
patr - profile actual torque: Reflect IQ
pacr - profile actual current: Reflect IQ
Profile target torque (tc, ptt, ProfileTargetTorque – command) is the input value for the
torque controller in profile torque mode and the value is given per thousand of rated
torque. For example, if a torque that is relative to a current of 2 amps is needed, and
the motor rate current (mrc, MotorRateCurrent command) is 3200 mA, then
ProfileTargetTorque = 2000 mA x 1000 / 3200 mA = 625. This number means 62.5 % of
MotorRateCurrent. pmxt and pmxc commands represent accordingly the maximum
permissible torque and the maximum permissible torque creating current in the
motor.
The pdt command represents the maximum permissible torque creating current in the
motor. These commands are given per thousand of rated torque.
The mrc command is taken from the motor nameplate and is entered in multiples of
milliamps. Depending on the motor and drive technology this current may be DC,
peak or rms (root-mean-square) current. All relative current data refers to this value.
The mrt command is taken from the motor name plate and is entered as a multiple of
mNm (mill wtonmeter). All relative torque data refers to this value. For linear motors,
the object name is not changed, but the motor rated force value must be entered as a
multiple of mN (mill Newton).
The patr command corresponds to the instantaneous torque in the drive motor. This
value is given in units of per thousand of rated torque.
The pacr command refers to the instantaneous current in the drive motor. It is
measured in units of per thousand of rated current.
The pts command describes the rate of change of torque in units of per thousand of
rated torque per second.