Beckhoff EL7201-0010 - Page 152

EL72x1-0010-DS402 - Object description and parameterization
Index 6065 Following error window
Index
(hex)
Name Meaning Data type Flags Default
6065:0 Follow-
ing error
window
Following error monitor: Following error window
Unit: the given value must be multiplied by the corresponding scaling factor
[}100]
0xFFFFFFFF (-1
dec
) = following error monitor off
Any other value = following error monitor on
UINT32 RO 0xFFFFFF
FF (-1
dec
)
Index 6066 Following error time out
Index
(hex)
Name Meaning Data type Flags Default
6066:0 Follow-
ing error
time out
Following error monitor: Timeout
Unit: ms
If the following error is larger than the following error window for a time that ex-
ceeds the timeout, this leads to an error reaction
UINT1616 RO 0x0000
(0
dec
)
Index 606C Velocity actual value
Index
(hex)
Name Meaning Data type Flags Default
606C:0 Velocity
actual
value
This object shall provide the actual velocity value INT3232 RO 0x000000
00 (0
dec
)
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
Formula:
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 controller (bipolar limit).
The value is specified in 1000th of the rated current
Formula:
UINT16 RW 0x7FFF
(32767
dec
)
Index 6075 Motor rated current
Index
(hex)
Name Meaning Data type Flags Default
6075:0 Motor
rated
current
Rated motor current
Unit: mA
UINT32 RW 0x000003
E8
(1000
dec
)
EL72x1-0010152 Version: 2.0