MovingCap controller parameters: CURRENT/TORQUE/FORCE LIMITATION
At least the following objects must be set for driving operation with specification/limitation of the maximum torque or maximum force:
Index |
Subindex |
Type |
Access |
Name [Units] |
Description |
6073h |
0h |
unsigned16 |
R/W |
max current |
Setpoint for current/torque/force limitation. |
6075h |
0h |
unsigned32 |
RO |
Motor_rated_current |
Rated current / maximum current (short time). All current parameters such as 6073h.0h or 6078h.0h are scaled relative to this value. |
3401h |
1Ah |
unsigned8 |
R/W |
deactivation block detection |
Selective deactivation of block travel and following error detection. |
*1) Not required / irrelevant for MovingCap MC349.
Deactivation of block travel / following error detection is required for force-limited travel where the force limit changes the trajectory of the travel.
Example: The following RefGo command sequence can be executed via the web interface or terminal/TCP connection while driving to switch to force-limited driving:
RefGo Command OW3401,1A,15 --> deactivates the blockage and following error detection in all movement phases
RefGo Command OW6073,0,300 --> reduces the torque to max. 30% of the nominal torque (maximum torque at standstill )
If the drive now moves to a mechanical limit, 30% of the nominal force is still applied to the mechanical stop. There is no abort with error code 7121h ERROR_STROKE. After removing the blockage, the drive continues to move to the target position.
Actual values for current/torque/force
The current torque/force effect can be determined via the following object:
Index |
Subindex |
Type |
Access |
Name [Units] |
Description |
6078h |
0h |
integer16 |
RO |
Current actual value |
Actual value of the current motor (phase) current, proportional to torque/force. CiA 402 Standard parameter. |
The value is signed, e.g:
RefGo Command OR6078,0 --> read out current motor current
RefGo Response OR6078,0,902 --> approx. 90% of the rated torque in the positive direction
RefGo Command OR6078,0 --> read out current motor current
RefGo Response OR6078,0,-103 --> approx. 10% of the rated torque in the negative direction
MC349 controller parameters: FORCE LIMITATION
The MC349 (MovingCap 349) motor variant supports the following additional control parameters:
Index |
Subindex |
Type |
Access |
Name [Units] |
Description |
3401h |
15h |
unsigned16 |
R/W |
acceleration torque |
Maximum torque during acceleration, |
3401h |
16h |
unsigned16 |
R/W |
deceleration torque |
Maximum torque during deceleration, |
3401h |
18h |
unsigned16 |
R/W |
stall torque |
Maximum torque at standstill, |
NOTE: These parameters are effective in addition to the CiA 402 standard parameter 6073h.0h Max Current (see above).
MCn23 controller parameters: QUIESCENT CURRENT/FORCE LIMITATION
The MCN23 ETH (MovingCap Stepper) motor variant supports the following additional control parameters:
Index |
Subindex |
Type |
Access |
Name [Units] |
Description |
3401h |
18h |
unsigned16 |
R/W |
stall torque |
Holding torque / holding current at standstill, |
NOTE: The current consumption / max. torque during travel is determined by CiA 402 standard parameter 6073h.0h Max Current (see above).
NOTE: The default setting of 3401h.18h stall torque is 100 (corresponds to 10% rated current / rated torque). For higher stall currents and continuous operation, the heat development must be taken into account. For applications with high holding forces in continuous operation, we recommend the use of an MCN23 variant with integrated holding brake.
