I have an ACOPOSmicro and I have yet to get a motor, but it wlll be an 8LVA motor.
I want to control the 8LVA motor using torque control. Looking at the ACOPOSmicro control sheet, it says:
“Function model “Ramp” is based on CANopen communication profile DS402”.
According to the DS402 IEC guidelines, it says that in order to run it in the torque controlled operating mode, I need to put it in Cyclic Synchronous Torque (CST) mode, but I’m just not seeing how to do this. I have looked at the McDS402Ax library, but there’s no explicit mention of CST.
Also, finally, I want to bypass the inner loop control, which is why I want to use CST, and make it so my control looks like the diagram on the right:
Your are mixing up Acopos micro stepper functionality with Acopos micro servo functionality.
The mentioned ramp model is only available for Acopos micro stepper.
The 8LVA is a servo motor so you need an Acopos micro servo hardware.
What is the type number of the Acopos micro ?
If it is the servo you can use function blocks like MC_BR_TorqueControl.
The reason that I want to bypass the inner control loop is to try and implement Model Predictive Control (MPC), something that I can’t do if there is a PI control loop running at the same time.
If I use the MC_BR_TorqueControl function block, will I be able to bypass the inner control loop?
The MC_BR_TorqueControl will bypass the position and speed loop and directly influence the current loop.
You could also look at the DYNSYS SPT fub.
I don’t have experience with the DYNSYS fub and I am not sure if the 80VD100PS.C00X-01 is capable of using this fub, but perhaps the community could answer this.
