NP5 EtherCAT Online Manual

6087h Torque Slope

Function

This object contains the slope of the torque in Torque mode.

Object description

Index 6087h
Object name Torque Slope
Object Code VARIABLE
Data type UNSIGNED32
Savable yes, category: application
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00000000h
Firmware version FIR-v1426
Change history

Description

This object is calculated as thousandths of the torque, e.g., the value "500" means "50%" of the rated torque; "1100" is equivalent to 110%. The rated torque corresponds to the rated current in object 203Bh:01.

The target torque may not exceed the peak torque (proportional to the peak current in 2031h).

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