Table 24: profile torque mode example, Figure 18 – Applied Motion ST10-C-CE User Manual
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CANopen User Manual
bursts.
Using the target torque and torque constant from the example above the current draw can
be checked, as shown:
0.3531 Nm
= 5.0443 A
0.07 Nm
A
The resultant current, 5.0443A, is below the 7A continuous current rating of the drive, and
well below the peak current rating of 14A. It is possible for the drive to maintain a current of 7A
indefinitely, and peak up to 14A for up to two seconds continuously. Values between 7A and
14A may be held proportionally long.
For more information: see CiA 402 - 2, Profile Torque Mode
Figure 18: Profile Torque Mode
Table 24: Profile Torque Mode Example
Graph Point
Target Torque
Halt Bit
Drive command to Motor
Start
T1
0
Ramp torque to T1
A
T1
0
Maintain torque at T1
B
T1
0 -> 1
Ramp torque to zero
C
T1 -> T2
1 -> 0
Ramp torque to T2
D
T2 -> 0
0
Ramp torque to zero
E
0
0
Maintain torque at zero