Applied Motion ST10-C-CE - Manual (Page 86)

86 920-0025 Rev K
3/5/2015
CANopen User Manual
Starting/Stopping Torque
To start and stop motion, toggle the controlword halt bit (bit 8). When the halt bit is set to
0, motion will start or continue; when the halt bit is set to 1, motion will stop. The bit can be
toggled by writing 010F
h
and 000F
h
to controlword OD entry 6040
h
.
Parameter Calculations - Example
An application requires a torque of 50 oz-in. and a torque slope of 25 oz-in/sec. The motor
print lists the Torque Constant of the motor as 0.07Nm/A. The Nm/A constant given must first
be converted into mNm/A, as required by the Torque Constant OD entry. The formula used for
this is:
0.07
Nm
• 1000
mA
= 70
m • Nm
A A A
As the drive works primarily in Nm, the desired 50 oz-in of torque must also be converted
into Nm, using the conversion factor 141.6 oz-in/Nm.
50 oz-in
= 0.3531 Nm
141.6 oz-in
Nm
Now, the resultant torque of 0.3531Nm must be converted into mNm, as required by the
Target Torque OD entry.
0.3531 Nm • 1000 m•Nm = 353.1 m•Nm
Nm
The result is a value of 353 mNm, rounded to the nearest whole number, for the Target
Torque OD Entry.
Finally, the desired slope must be converted from the given units of oz-in/sec into the re-
quired units of mNm/sec.
(
25 oz-in
) * ( 1 Nm ) * ( 1000 m•Nm )
= 176.55 m•Nm
sec 141.6 oz-in 1 Nm sec
Rounding to the nearest whole number results in a Torque Slope of 177 mNm/sec.
Current Verification - Example
It is important to check that the current required of the drive is within the limits of the servo
amplifier. The drive being used, for example, has a continuous rating of 7 amps, and a peak
current of 14 amps, which may be held continuously for 2 seconds. This means that a current
of 7 amps can be held indefinitely, and currents between 7 and 14 amps may be used in short