PD4-EB-MA CANopen Online Manual

6077h Torque Actual Value

Function

This object indicates the current torque value in tenths of a percent of the rated torque for the internal controller.

Object description

Index 6077h
Object name Torque Actual Value
Object Code VARIABLE
Data type INTEGER16
Savable no
Access read only
PDO mapping TX-PDO
Allowed values
Preset value 0000h
Firmware version FIR-v1540
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 minimum of 6073h and 6072h is used as limit for the torque in 6071h.

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

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