Lenze 931M-931W - Manual (Page 116)

Operating modes
Torque control
Overview
9
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116 KHB 13.0003-EN 2.0
9.5 Torque control
9.5.1 Overview
This chapter describes the torque-controlled operation. In this operating mode, an
external target-torque setpoint can be specified for the drive controller. Thus, it is possible
to use the drive controller also for those path controls shifting the position controller as
well as the speed controller to an external computer.
Limit Function
Torque Control
and
Power
Stage
Limit Function
motor_rated_torque
(6076h)
max_torque
(6072h)
motor_rated_current
(6075h)
max_current
(6073h)
Motor
torque_actual_value
(6077h)
DC_link_voltage
(6079h)
target_torque
(6071h)
motor_data
(6410h)
931m_056
Fig. 18 Structure of torque-controlled operation
Ramp generators are not supported. If bit 8 of the control word is set to stop, the current
setpoint is set to zero. Correspondingly, the target torque setpoint is limited to
max_torque if bit 8 is deleted again.
All definitions in this document refer to rotary motor. If linear motor are used, all ”torque”
objects must refer to a ”force”. However, the objects do not appear twice and their names
should not be changed.