Object description and parameterization
EL72x1-901x220 Version: 1.9
Index 6071 Target torque
Index (hex) Name Meaning Data type Flags Default
6071:0 Target torque This object shall indicate the configured input value for
the torque controller.
The value is specified in 1000th of the rated current.
Equation for index 2002:54 [}212] = 0 :
M = ((Torque actual value / 1000) x (rated current /
√2)) x torque constant (2003:16 [}215])
Equation for index 2002:54 [}212] = 1 :
M = ((Torque actual value / 1000) x rated current)) x
torque constant (2003:16 [}215])
INT16 RO 0x0000 (0
dec
)
Index 6072 Max torque
Index (hex) Name Meaning Data type Flags Default
6072:0 Max torque This object limits the target torque for the torque con-
troller (bipolar limit).
The value is specified in 1000th of the rated current.
Equation for index 2002:54 [}212] = 0 :
M = ((Torque actual value / 1000) x (rated current /
√2)) x torque constant (2003:16 [}215])
Equation for index 2002:54 [}212] = 1 :
M = ((Torque actual value / 1000) x rated current)) x
torque constant (2003:16 [}215])
UINT16 RW 0x7FFF
(32767
dec
)
Index 6075 Motor rated current
Index (hex) Name Meaning Data type Flags Default
6075:0 Motor rated current Motor rated current
Unit: mA
UINT32 RW 0x000003E8
(1000
dec
)
Index 6077 Torque actual value
Index (hex) Name Meaning Data type Flags Default
6077:0 Torque actual value This object shall provide the actual value of the torque.
The value is specified in 1000th of the rated current.
Equation for index 2002:54 [}212] = 0 :
M = ((Torque actual value / 1000) x (rated current /
√2)) x torque constant (2003:16 [}215])
Equation for index 2002:54 [}212] = 1 :
M = ((Torque actual value / 1000) x rated current)) x
torque constant (2003:16 [}215])
INT16 RO 0x0000 (0
dec
)
Index 6079 DC link circuit voltage
Index (hex) Name Meaning Data type Flags Default
6079:0 DC link circuit voltage DC link voltage g
Unit: mV
UINT32 RO 0x00000000
(0
dec
)
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