Elmomc CANopen DSP 402 Implementation Guide Instrukcja Użytkownika Pobierz pdf (Strona 6)

14: Profiled Torque Mode ......................................................................................................101

14.1 General Information ......................................................................................................101

14.1.1 Internal states ....................................................................................................102

Controlword of profile torque mode .......................................................................... 102

14.2 Objects dictionary entries..............................................................................................103

14.2.1 Objects defined in other chapters....................................................................103

14.2.2 Objects description............................................................................................103

Object 0x6071: Target torque ....................................................................................... 103

Object 0x6072: Max torque........................................................................................... 104

Object 0x6073: Max Current......................................................................................... 104

Object 0x6074: Torque Demand value ........................................................................ 105

Object 0x6075: Motor Rate Current............................................................................. 106

Object 0x6076: Motor Rate Torque .............................................................................. 106

Object 0x6077: Torque Actual value............................................................................ 107

Object 0x6078: Current Actual value .......................................................................... 107

Object 0x6087: Torque slope ........................................................................................ 108

Object 0x6088: Torque profile type ............................................................................. 108

Appendix A: Dimension Index Table .................................................................................109

Appendix B: Notation Index Table......................................................................................110

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

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Elmomc CANopen DSP 402 Implementation Guide Instrukcja Użytkownika Strona 6