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13.2
[Target torque (Obj. 6071h)]
[Target torque (Obj. 6071h: 00h)]
Data Type
Access
I16
RW
Supported firmware version
ECT
A5
Description
Set the torque command used in the cyclic synchronous torque mode (cst) and the profile torque mode (tq).
13.3
[Max torque (Obj. 6072h)]
[Max torque (Obj. 6072h: 00h)]
Data Type
Access
U16
RW
Supported firmware version
ECT
A5
Description
The maximum torque of the servo motor is returned.
When [Pr. PC78.1] is set to "0" (disabled), the torque limit with this object and the torque limit with the value of [Pr. PE53] will
be disabled. The values notified by this object are the maximum current and feedback values and may not match the
maximum torque described in the user's manual for the servo motor being used.
When [Pr. PC78.1] is set to "1" (enabled), the torque or thrust generated by the servo motor can be limited with the setting
value of this object. When this object is set to "0", the torque limit is disabled.
13.4
[Max current (Obj. 6073h)]
[Max current (Obj. 6073h: 00h)]
Data Type
Access
U16
RW
Supported firmware version
ECT
C0
Description
The maximum current of the servo motor is returned.
This object is automatically set by the servo motor being connected. Do not write a value to this object. Writing a value will
result in a write error. In addition, the maximum current values notified by this object may not match the maximum current
value described in the user's manual for the servo motor being used.
Unit: 0.1 % (with rated current being 100 %)
13 Profile Torque Mode Objects
164
13.2 [Target torque (Obj. 6071h)]
Mapping
Default
RxPDO
Mapping
Default
TxPDO/RxPDO
Mapping
Default
RxPDO
Range
Units
-32768 to 32767
0.1 %
Range
Units
0 to 10000
0.1 %
Range
Units
0 to 65535
0.1 %
Save
Parameter
Impossible
Save
Parameter
Possible
[Pr. PE53]
Save
Parameter
Impossible
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