Profile Torque/Cyclic Synchronous Torque Mode - YASKAWA SGD7S-xxxDA0 series Product Manual

15.13

Profile Torque/Cyclic Synchronous Torque Mode

Target Torque (6071h)
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
6071h 0
Torque Demand Value (6074h)
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
6074h 0
Torque Slope (6087h)
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
6087h 0
Motor Rated Torque (6076h)
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
6076h 0
Torque Actual Value (6077h)
For a SERVOPACK, this object contains the same value as the torque reference output value.
Subin-
Index
dex
6077h 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

15.13 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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