Profile Torque Mode (Tq) (Ds402) - Kollmorgen S300 Interface Manual

Kollmorgen
4.7

Profile Torque Mode (tq) (DS402)

4.7.1 General Information
The profile torque mode enables the processing of torque setpoints and the associated current.
4.7.2 Objects that are defined in this section
Index
6071
6073
6077h VAR
4.7.3 Object description
4.7.3.1 Object 6071h: Target torque (DS402)
This parameter is the input value for the torque controller in profile torque mode and the value is
given per thousand of rated torque.
Index
Name
Object code
Data type
Category
Access
PDO mapping
Value range
Default value
4.7.3.2 Object 6073h: Max current (DS402)
This value represents the maximum permissible torque creating current in the motor and is given
per thousand of rated current.
Index
Name
Object code
Data type
Category
Access
PDO mapping
Value range
Default value
4.7.3.3 Object 6077h: Torque actual value (DS402)
The torque actual value corresponds to the instantaneous torque in the drive motor. The value is
given per thousand of rated torque.
Index
Name
Object code
Data type
Category
Access
PDO mapping
Value range
Default value
CANopen for S300/S700
Object Name
VAR Target torque
h
VAR Max current
h
Torque actual value
6071
Target torque
VAR
INTEGER16
conditional; mandatory, if tq supported
rw
possible
INTEGER16
0
6073
Max current
VAR
UNSIGNED16
optional
rw
possible
UNSIGNED16
0
6077
Torque actual value
VAR
INTEGER16
optional
ro
possible
INTEGER16
0
11/2018
Type
INTEGER16
UNSIGNED16
INTEGER16
h
h
h
CANopen Drive Profile
Access
rw
rw
ro
73