Corrected from:
i950 firmware and TA project templates from V01.07.04
Response of the new version:
With selection Master values output Systembus 0x5020:1 = 1: Set Value the torque setpoint effective in the motor control is output on the fourth double word of the Systembus (EtherCAT onboard) converted into Nm (based on 0x2DD6:1).
What happens?
The current torque setpoint is not transmitted on the fourth double word of the system bus (EtherCAT onboard), as expected with selection Master values output system bus 0x5020:1 = 1: Set Value, but fixed at zero.
When does the behaviour occur?
Whenever the motion control does NOT change from the TA to the CiA operating mode 'CST'.
This operating mode is only changed to in the TA Winder Tension-controlled when a torque-based tension control method is selected, otherwise never.
Thus, only in this application and only in the operating mode 'tension-control torque-based' and only without reaching a speed clamp limit on the fourth system bus double word is the target torque which is effective in the motor control.
Which products are affected?
Servo inverter i950 with TA
Short-term measures:
In some applications, depending on the stability, the actual value can also be used as the reference value. This would also output a suitable torque reference on the fourth system bus double word.
The actual value / setpoint switchover takes place in 0x5020:1.
Evaluation / recommendations:
The fourth double word thus never contains the suitable torque command value as required in classic torque followers and torque support drives.
If a speed limit is reached in the master for a tension-controlled winder, the torque master value on the system bus no longer corresponds to the one effective in the motor control, but continues to correspond to the one calculated from the current tension setpoint and diameter.
Automatic Translation
