Applied-motion ST10-C-CE Manual do Utilizador descarregar pdf (Página 51)

920-0025 Rev K

3/5/2015

CANopen User Manual

0x6071 target_torque

This parameter is the input value for the torque controller in Prole Torque Mode. This

object can only be accessed in Servo (or Step Servo) driver.

Object Type Data Type Access Type PDO Mapping COS Default value

Var INTEGER16 rw yes no 0

This object parameter is related to the other torque values, such as torque_slope (index

0x6078) and torque_constant (index 0x7005). Please see Appendix G in this document for

details.

0x6073 max_current

This object shall congure the max current of the drive.

Object Type Data Type Access Type PDO Mapping COS Default value

Var UNSIGNED16 rw yes no 0

The unit of this object is 0.01Amps.

0x6074 torque_demand_value

This parameter is the output value of the torque limit function (if available within the torque

control and power-stage function).

Object Type Data Type Access Type PDO Mapping COS Default value

Var UNSIGNED16 rw yes no 0

This object is only available on servo/step-servo drives.

The unit of this object is mNm.

0x6078 current_actual_value

The current actual value refers to the instantaneous current in the drive motor.

Object Type Data Type Access Type PDO Mapping COS Default value

Var INTEGER16 rw yes no 0

This object is only available on servo/step-servo drivers.

The unit of this object is 0.01Amps.

0x607A target_position

The Target Position is the position that the drive should move to in position prole mode

using parameters such as velocity, acceleration, and deceleration. The target position is given

in terms of Electrical Gear parameters steps per motor shaft revolution. The target position

will be interpreted as absolute or relative depending on the absolute relative ag (bit 6) in the

controlword.

Object Type Data Type Access Type PDO Mapping COS Default value

Var INTEGER32 rw yes no 0

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Applied-motion ST10-C-CE Manual do Utilizador Página 51