Profile Torque/Cyclic Synchronous Torque Mode - YASKAWA SGD7S-1R9D Product Manual

14.13

Profile Torque/Cyclic Synchronous Torque Mode

Target Torque (6071 Hex)
This object specifies the input torque reference value for Torque Control Mode. Set the value in
units of 0.1% of the motor rated torque.
Subin-
Index
dex
6071 hex 0
Torque Demand Value (6074 Hex)
This object gives the currently output torque reference value. The value is given in units of 0.1%
of the motor rated torque.
Subin-
Index
dex
6074 hex 0
Torque Slope (6087 Hex)
This object sets the torque output slope to use in Profile Torque Mode. Set the value as the rate
of change per second (0.1%/s) in respect to the motor rated torque.
Subin-
Index
dex
6087 hex 0
Motor Rated Torque (6076 Hex)
This object gives the motor rated torque (rated force for a Linear Servomotor). The value is
given in m⋅Nm for a Rotary Servomotor, and in m⋅N for a Linear Servomotor.
Subin-
Index
dex
6076 hex 0
Torque Actual Value (6077 Hex)
For a SERVOPACK, this object contains the same value as the torque reference output value.
Subin-
Index
dex
6077 hex 0
Data
Name
Type
Target torque INT
Data
Name
Type
Torque demand
INT
value
Data
Name
Type
Torque slope UDINT
Data
Name
Type
Motor rated torque UDINT
Data
Name
Type
Torque actual value INT

14.13 Profile Torque/Cyclic Synchronous Torque Mode

PDO
Access
Mapping
–32,768 to 32,767
RW Yes
(default: 0) [0.1%]
PDO
Access
Mapping
RO Yes
PDO
Access
Mapping
0 to 4,294,967,295
RW Yes (default:1,000)
PDO
Access
Mapping
RO No –[mNm] or [mN]
PDO
Access
Mapping
RO Yes
Saving to
Value
EEPROM
No
Saving to
Value
EEPROM
− [0.1%]
No
Saving to
Value
EEPROM
Yes
[0.1%/s]
Saving to
Value
EEPROM
No
Saving to
Value
EEPROM
− [0.1%]
No
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