Syntax
MODE TT |
MODE Torque Test |
| Operands | – |
Binary code
| Description | Sets the drive/motor to operate in torque test mode. In this mode a current command can be set using a test reference consisting of a limited ramp. For AC motors (like for example the brushless motors), the test mode offers also the possibility to rotate a current reference vector with a programmable speed. As result, these motors can be moved in an “open-loop” mode without using the position sensor. The main advantage of this test mode is the possibility to conduct in a safe way a series of tests, which can offer important information about the motor parameters, drive status and the integrity of the its connections. |
Remark: The torque test mode has been foreseen to facilitate the testing during the setup phase. It is not intended for normal operation
The new motion mode becomes effective at the next update command UPD.
Example
//Torque test mode, brushless AC motor. The drive has
//peak current 16.5A -> 32736 IU (internal current units)
//360 electric angle -> 65536 internal units
// fast loop sampling period = 0.1ms. Motor has 2 pole pairs
MODE TT; //Torque Test Mode
REFTST_A = 1984;//Reference saturation = 1[A]
RINCTST_A = 20;//Reference increment = 10[A/s]
THTST = 0;//Electric angle = 0[deg]
TINCTST = 7;//Electric angle increment ~= 2e+002[deg/s]
UPD; //update immediate