CL3-E CANopen/USB Technical Manual

6071h Target Torque

Function

This object contains the target torque for the "Profile Torque" and the "Cyclic Synchronous Torque" mode.

Object description


Index 6071h
Object Name Target Torque
Object Code VARIABLE
Data type INTEGER16
Saveable yes, category: application
Access Read/write
PDO Mapping RX - PDO
Admissible Values  
Specified Value 0000h
Firmware Version FIR-v1426
Change History

Firmware Version FIR-v1626: Entry "Saveable" modified from "No" to "yes, category: application".


Description

The nominal current in object 203Bh:01h is equal to a nominal torque. This object is expressed as per thousand of this nominal torque, e.g. the value "500" means "50%" of the nominal torque, "1100" is equal to 110%. This value cannot exceed the peak torque (generated by peak current in 2031h).

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