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Infranor Group
AN_IRD_Continuous Torque Offset Function_12.25

AN_IRD_Continuous Torque Offset Function_12.25

Product catalog summary

Introduction
The document discusses the 'Continuous Torque Offset' function, which is designed to adjust the torque offset value for vertical axis drives. This adjustment is necessary to compensate for gravity and is particularly useful when the load or inertia changes with the position of the axis. The function involves measuring the torque command at standstill, memorizing it when the drive is disabled, and applying it when the drive is re-enabled. If the power supply is switched off, the torque value must be saved in non-volatile memory, with an automatic backup function available during power down.

Specifications
The function is applicable to IRD firmware 1.2.18.53 and newer. It involves several sub-indexes under Index 0x3698, each with specific roles:

Sub Index 1: Configuration settings, including enabling the function and saving/loading torque offset values.
Sub Index 2: Status indicators for saving and loading operations.
Sub Index 3: User command for saving to flash memory.
Sub Index 4: Default Torque Offset, applied at first power on.
Sub Index 5: Backup Voltage Threshold, defining the conditions for saving on power down.
Sub Index 6: Moved distance limit, ensuring the motor hasn't moved beyond a set limit when applying torque offset.
Sub Index 7: Speed limit for acquiring torque offset.
Sub Index 8: Torque Limit, defining the maximum allowable torque offset value.
Sub Index 9: Continuous torque offset value, read-only.

Procedures
The document outlines how to set up the 'Backup Voltage Threshold' to ensure the backup function executes correctly during power down. It provides an example for a 24V power supply drive, suggesting a backup voltage threshold that ensures a backup time of at least 15ms. If automatic backup is not feasible, a user command or default torque offset value can be used.

Recommendations
It is recommended to ensure that the drive is at a standstill when disabling it to accurately memorize the torque command. Additionally, users should define appropriate backup voltage thresholds and consider user-commanded backups if automatic backups are unreliable.

Catalog excerpts

AN_IRD_Continuous Torque Offset Function_12.25-1

Application note Continuous Torque Offset Function D.Buy

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AN_IRD_Continuous Torque Offset Function_12.25-2

AN_Continuous Torque Offset INTRODUCTION For a vertical axis, when the drive is enabled, the axis may fall down a little before going back to the initial position. This phenomenon is more or less visible depending on the servo loop adjustment. In general, a constant value of torque offset is enough to compensate for gravity. But in some cases, where the load changes with the position of the axis or inertia changes, it is necessary to change the torque offset value each time drive is enabled. The purpose of the “Continuous Torque Offset” function is to adjust the torque offset value: - the torque...

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AN_IRD_Continuous Torque Offset Function_12.25-3

AN Continuous Torque Offset OINFRANOR

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AN_IRD_Continuous Torque Offset Function_12.25-4

AN Continuous Torque Offset OINFRANOR

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AN_IRD_Continuous Torque Offset Function_12.25-5

AN Continuous Torque Offset OINFRANOR Example: For a 24V power supply drive Undervolt threshold = 15V Low voltage limit = 12V “Backup voltage threshold” must be defined in order that the “backup time” is at least 15ms. If the automatic torque offset backup by power down is not possible because the “Backup Time” can not be assured (power supply falls too fast), there are 2 possibilities: - a backup by user command can be done. The user must send a command to backup the torque offset before switch off the power supply. - a default Torque offset value can be defined.

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AN_IRD_Continuous Torque Offset Function_12.25-6

AN Continuous Torque Offset OINFRANOR 6 How to setup the “Backup Voltage Threshold:

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*Prices are pre-tax. They exclude delivery charges and customs duties and do not include additional charges for installation or activation options. Prices are indicative only and may vary by country, with changes to the cost of raw materials and exchange rates.

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